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https://github.com/Klipper3d/klipper.git
synced 2025-08-07 22:14:05 -06:00
adxl345: Move g-code commands to new helper class
Separate out the G-Code command handlers to a new ADXLCommandHelper() class. This helps separate the sensing code from the user interface code. Deprecate the RATE parameter of the ACCELEROMETER_MEASURE command. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
6999ff6256
commit
e03e0e9dac
3 changed files with 95 additions and 105 deletions
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@ -96,10 +96,85 @@ class ADXL345Results:
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write_proc.daemon = True
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write_proc.start()
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# Helper class for G-Code commands
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class ADXLCommandHelper:
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def __init__(self, config, chip):
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self.printer = config.get_printer()
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self.chip = chip
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self.name = "default"
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if len(config.get_name().split()) > 1:
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self.name = config.get_name().split()[1]
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self.register_commands(self.name)
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if self.name == "default":
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self.register_commands(None)
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def register_commands(self, name):
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# Register commands
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gcode = self.printer.lookup_object('gcode')
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gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", name,
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self.cmd_ACCELEROMETER_MEASURE,
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desc=self.cmd_ACCELEROMETER_MEASURE_help)
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gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", name,
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self.cmd_ACCELEROMETER_QUERY,
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desc=self.cmd_ACCELEROMETER_QUERY_help)
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gcode.register_mux_command("ADXL345_DEBUG_READ", "CHIP", name,
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self.cmd_ADXL345_DEBUG_READ,
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desc=self.cmd_ADXL345_DEBUG_READ_help)
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gcode.register_mux_command("ADXL345_DEBUG_WRITE", "CHIP", name,
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self.cmd_ADXL345_DEBUG_WRITE,
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desc=self.cmd_ADXL345_DEBUG_WRITE_help)
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cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
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def cmd_ACCELEROMETER_MEASURE(self, gcmd):
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if not self.chip.is_measuring():
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# Start measurements
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self.chip.start_measurements()
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gcmd.respond_info("adxl345 measurements started")
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return
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# End measurements
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name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
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if not name.replace('-', '').replace('_', '').isalnum():
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raise gcmd.error("Invalid adxl345 NAME parameter")
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res = self.chip.finish_measurements()
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# Write data to file
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if self.name == "default":
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filename = "/tmp/adxl345-%s.csv" % (name,)
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else:
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filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,)
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res.write_to_file(filename)
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gcmd.respond_info("Writing raw accelerometer data to %s file"
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% (filename,))
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cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
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def cmd_ACCELEROMETER_QUERY(self, gcmd):
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if self.chip.is_measuring():
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raise gcmd.error("adxl345 measurements in progress")
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self.chip.start_measurements()
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self.printer.lookup_object('toolhead').dwell(1.)
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result = self.chip.finish_measurements()
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values = result.decode_samples()
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if not values:
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raise gcmd.error("No adxl345 measurements found")
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_, accel_x, accel_y, accel_z = values[-1]
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gcmd.respond_info("adxl345 values (x, y, z): %.6f, %.6f, %.6f"
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% (accel_x, accel_y, accel_z))
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cmd_ADXL345_DEBUG_READ_help = "Query accelerometer register (for debugging)"
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def cmd_ADXL345_DEBUG_READ(self, gcmd):
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if self.chip.is_measuring():
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raise gcmd.error("adxl345 measurements in progress")
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reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
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val = self.chip.read_reg(reg)
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gcmd.respond_info("ADXL345 REG[0x%x] = 0x%x" % (reg, val))
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cmd_ADXL345_DEBUG_WRITE_help = "Set accelerometer register (for debugging)"
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def cmd_ADXL345_DEBUG_WRITE(self, gcmd):
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if self.chip.is_measuring():
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raise gcmd.error("adxl345 measurements in progress")
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reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
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val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
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self.chip.set_reg(reg, val)
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# Printer class that controls ADXL345 chip
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class ADXL345:
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def __init__(self, config):
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self.printer = config.get_printer()
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ADXLCommandHelper(config, self)
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self.query_rate = 0
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self.last_tx_time = 0.
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am = {'x': (0, SCALE), 'y': (1, SCALE), 'z': (2, SCALE),
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@ -127,34 +202,6 @@ class ADXL345:
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mcu.register_config_callback(self._build_config)
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mcu.register_response(self._handle_adxl345_start, "adxl345_start", oid)
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mcu.register_response(self._handle_adxl345_data, "adxl345_data", oid)
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# Register commands
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self.name = "default"
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if len(config.get_name().split()) > 1:
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self.name = config.get_name().split()[1]
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gcode = self.printer.lookup_object('gcode')
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gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", self.name,
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self.cmd_ACCELEROMETER_MEASURE,
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desc=self.cmd_ACCELEROMETER_MEASURE_help)
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gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", self.name,
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self.cmd_ACCELEROMETER_QUERY,
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desc=self.cmd_ACCELEROMETER_QUERY_help)
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gcode.register_mux_command("ADXL345_DEBUG_READ", "CHIP", self.name,
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self.cmd_ADXL345_DEBUG_READ,
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desc=self.cmd_ADXL345_DEBUG_READ_help)
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gcode.register_mux_command("ADXL345_DEBUG_WRITE", "CHIP", self.name,
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self.cmd_ADXL345_DEBUG_WRITE,
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desc=self.cmd_ADXL345_DEBUG_WRITE_help)
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if self.name == "default":
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gcode.register_mux_command("ACCELEROMETER_MEASURE", "CHIP", None,
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self.cmd_ACCELEROMETER_MEASURE)
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gcode.register_mux_command("ACCELEROMETER_QUERY", "CHIP", None,
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self.cmd_ACCELEROMETER_QUERY)
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gcode.register_mux_command("ADXL345_DEBUG_READ", "CHIP", None,
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self.cmd_ADXL345_DEBUG_READ,
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desc=self.cmd_ADXL345_DEBUG_READ_help)
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gcode.register_mux_command("ADXL345_DEBUG_WRITE", "CHIP", None,
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self.cmd_ADXL345_DEBUG_WRITE,
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desc=self.cmd_ADXL345_DEBUG_WRITE_help)
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def is_initialized(self):
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# In case of miswiring, testing ADXL345 device ID prevents treating
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# noise or wrong signal as a correctly initialized device
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@ -213,10 +260,9 @@ class ADXL345:
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reg, val, stored_val))
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def is_measuring(self):
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return self.query_rate > 0
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def start_measurements(self, rate=None):
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def start_measurements(self):
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if self.is_measuring():
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return
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rate = rate or self.data_rate
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if not self.is_initialized():
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self.initialize()
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# Setup chip in requested query rate
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@ -225,7 +271,7 @@ class ADXL345:
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clock = self.mcu.print_time_to_clock(self.last_tx_time)
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self.set_reg(REG_POWER_CTL, 0x00, minclock=clock)
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self.set_reg(REG_FIFO_CTL, 0x00)
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self.set_reg(REG_BW_RATE, QUERY_RATES[rate])
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self.set_reg(REG_BW_RATE, QUERY_RATES[self.data_rate])
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self.set_reg(REG_FIFO_CTL, 0x80)
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# Setup samples
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print_time = self.printer.lookup_object('toolhead').get_last_move_time()
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@ -234,9 +280,9 @@ class ADXL345:
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self.samples_start1 = self.samples_start2 = print_time
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# Start bulk reading
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reqclock = self.mcu.print_time_to_clock(print_time)
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rest_ticks = self.mcu.seconds_to_clock(4. / rate)
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rest_ticks = self.mcu.seconds_to_clock(4. / self.data_rate)
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self.last_tx_time = print_time
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self.query_rate = rate
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self.query_rate = self.data_rate
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self.query_adxl345_cmd.send([self.oid, reqclock, rest_ticks],
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reqclock=reqclock)
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def finish_measurements(self):
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@ -263,64 +309,6 @@ class ADXL345:
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logging.info("ADXL345 finished %d measurements: %s",
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res.total_count, res.get_stats())
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return res
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def end_query(self, name, gcmd):
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if not self.is_measuring():
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return
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res = self.finish_measurements()
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# Write data to file
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if self.name == "default":
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filename = "/tmp/adxl345-%s.csv" % (name,)
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else:
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filename = "/tmp/adxl345-%s-%s.csv" % (self.name, name,)
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res.write_to_file(filename)
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gcmd.respond_info(
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"Writing raw accelerometer data to %s file" % (filename,))
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cmd_ACCELEROMETER_MEASURE_help = "Start/stop accelerometer"
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def cmd_ACCELEROMETER_MEASURE(self, gcmd):
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if self.is_measuring():
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name = gcmd.get("NAME", time.strftime("%Y%m%d_%H%M%S"))
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if not name.replace('-', '').replace('_', '').isalnum():
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raise gcmd.error("Invalid adxl345 NAME parameter")
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self.end_query(name, gcmd)
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gcmd.respond_info("adxl345 measurements stopped")
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else:
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rate = gcmd.get_int("RATE", self.data_rate)
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if rate not in QUERY_RATES:
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raise gcmd.error("Not a valid adxl345 query rate: %d" % (rate,))
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self.start_measurements(rate)
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gcmd.respond_info("adxl345 measurements started")
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cmd_ACCELEROMETER_QUERY_help = "Query accelerometer for the current values"
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def cmd_ACCELEROMETER_QUERY(self, gcmd):
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if self.is_measuring():
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raise gcmd.error("adxl345 measurements in progress")
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self.start_measurements()
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reactor = self.printer.get_reactor()
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eventtime = starttime = reactor.monotonic()
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while not self.raw_samples:
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eventtime = reactor.pause(eventtime + .1)
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if eventtime > starttime + 3.:
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# Try to shutdown the measurements
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self.finish_measurements()
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raise gcmd.error("Timeout reading adxl345 data")
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result = self.finish_measurements()
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values = result.decode_samples()
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_, accel_x, accel_y, accel_z = values[-1]
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gcmd.respond_info("adxl345 values (x, y, z): %.6f, %.6f, %.6f" % (
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accel_x, accel_y, accel_z))
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cmd_ADXL345_DEBUG_READ_help = "Query accelerometer register (for debugging)"
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def cmd_ADXL345_DEBUG_READ(self, gcmd):
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if self.is_measuring():
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raise gcmd.error("adxl345 measurements in progress")
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reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
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val = self.read_reg(reg)
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gcmd.respond_info("ADXL345 REG[0x%x] = 0x%x" % (reg, val))
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cmd_ADXL345_DEBUG_WRITE_help = "Set accelerometer register (for debugging)"
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def cmd_ADXL345_DEBUG_WRITE(self, gcmd):
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if self.is_measuring():
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raise gcmd.error("adxl345 measurements in progress")
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reg = gcmd.get("REG", minval=29, maxval=57, parser=lambda x: int(x, 0))
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val = gcmd.get("VAL", minval=0, maxval=255, parser=lambda x: int(x, 0))
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self.set_reg(reg, val)
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def load_config(config):
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return ADXL345(config)
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