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homing: Replace notify callback with a completion

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Update the endstop code to return its trigger completion object during
home_start().  Update the toolhead class to take a completion object
(instead of creating its own).  This reduces the number of
intermediate callbacks needed during a homing operation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2020-02-19 11:38:11 -05:00
parent e3a5e2d271
commit fbbbbc85cf
4 changed files with 26 additions and 28 deletions
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16
klippy/mcu.py
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@ -25,7 +25,6 @@ class MCU_endstop:
self._min_query_time = self._last_sent_time = 0.
self._next_query_print_time = self._end_home_time = 0.
self._trigger_completion = self._home_completion = None
self._trigger_notify = None
def get_mcu(self):
return self._mcu
def add_stepper(self, stepper):
@ -55,16 +54,14 @@ class MCU_endstop:
self._query_cmd = self._mcu.lookup_command(
"endstop_query_state oid=%c", cq=cmd_queue)
def home_start(self, print_time, sample_time, sample_count, rest_time,
triggered=True, notify=None):
triggered=True):
clock = self._mcu.print_time_to_clock(print_time)
rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
self._trigger_notify = notify
self._next_query_print_time = print_time + self.RETRY_QUERY
self._min_query_time = self._reactor.monotonic()
self._last_sent_time = 0.
self._home_end_time = self._reactor.NEVER
self._trigger_completion = self._reactor.completion()
self._home_completion = self._reactor.completion()
self._mcu.register_response(self._handle_endstop_state,
"endstop_state", self._oid)
self._home_cmd.send(
@ -73,6 +70,7 @@ class MCU_endstop:
reqclock=clock)
self._home_completion = self._reactor.register_callback(
self._home_retry)
return self._trigger_completion
def _handle_endstop_state(self, params):
logging.debug("endstop_state %s", params)
if params['#sent_time'] >= self._min_query_time:
@ -80,16 +78,14 @@ class MCU_endstop:
self._last_sent_time = params['#sent_time']
else:
self._min_query_time = self._reactor.NEVER
self._reactor.async_complete(self._trigger_completion, params)
self._reactor.async_complete(self._trigger_completion, True)
def _home_retry(self, eventtime):
if self._mcu.is_fileoutput():
return True
while 1:
params = self._trigger_completion.wait(eventtime + 0.100)
if params is not None:
did_trigger = self._trigger_completion.wait(eventtime + 0.100)
if did_trigger is not None:
# Homing completed successfully
if self._trigger_notify is not None:
self._trigger_notify()
return True
# Check for timeout
last = self._mcu.estimated_print_time(self._last_sent_time)
@ -108,6 +104,8 @@ class MCU_endstop:
self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
for s in self._steppers:
s.note_homing_end(did_trigger=did_trigger)
if not self._trigger_completion.test():
self._trigger_completion.complete(False)
if not did_trigger:
raise self.TimeoutError("Timeout during endstop homing")
def query_endstop(self, print_time):