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https://github.com/Klipper3d/klipper.git
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homing: Replace notify callback with a completion
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>
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parent
e3a5e2d271
commit
fbbbbc85cf
4 changed files with 26 additions and 28 deletions
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@ -25,7 +25,6 @@ class MCU_endstop:
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self._min_query_time = self._last_sent_time = 0.
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self._next_query_print_time = self._end_home_time = 0.
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self._trigger_completion = self._home_completion = None
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self._trigger_notify = None
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def get_mcu(self):
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return self._mcu
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def add_stepper(self, stepper):
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@ -55,16 +54,14 @@ class MCU_endstop:
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self._query_cmd = self._mcu.lookup_command(
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"endstop_query_state oid=%c", cq=cmd_queue)
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def home_start(self, print_time, sample_time, sample_count, rest_time,
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triggered=True, notify=None):
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triggered=True):
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clock = self._mcu.print_time_to_clock(print_time)
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rest_ticks = int(rest_time * self._mcu.get_adjusted_freq())
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self._trigger_notify = notify
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self._next_query_print_time = print_time + self.RETRY_QUERY
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self._min_query_time = self._reactor.monotonic()
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self._last_sent_time = 0.
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self._home_end_time = self._reactor.NEVER
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self._trigger_completion = self._reactor.completion()
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self._home_completion = self._reactor.completion()
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self._mcu.register_response(self._handle_endstop_state,
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"endstop_state", self._oid)
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self._home_cmd.send(
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@ -73,6 +70,7 @@ class MCU_endstop:
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reqclock=clock)
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self._home_completion = self._reactor.register_callback(
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self._home_retry)
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return self._trigger_completion
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def _handle_endstop_state(self, params):
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logging.debug("endstop_state %s", params)
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if params['#sent_time'] >= self._min_query_time:
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@ -80,16 +78,14 @@ class MCU_endstop:
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self._last_sent_time = params['#sent_time']
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else:
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self._min_query_time = self._reactor.NEVER
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self._reactor.async_complete(self._trigger_completion, params)
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self._reactor.async_complete(self._trigger_completion, True)
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def _home_retry(self, eventtime):
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if self._mcu.is_fileoutput():
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return True
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while 1:
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params = self._trigger_completion.wait(eventtime + 0.100)
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if params is not None:
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did_trigger = self._trigger_completion.wait(eventtime + 0.100)
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if did_trigger is not None:
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# Homing completed successfully
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if self._trigger_notify is not None:
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self._trigger_notify()
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return True
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# Check for timeout
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last = self._mcu.estimated_print_time(self._last_sent_time)
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@ -108,6 +104,8 @@ class MCU_endstop:
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self._home_cmd.send([self._oid, 0, 0, 0, 0, 0])
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for s in self._steppers:
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s.note_homing_end(did_trigger=did_trigger)
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if not self._trigger_completion.test():
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self._trigger_completion.complete(False)
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if not did_trigger:
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raise self.TimeoutError("Timeout during endstop homing")
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def query_endstop(self, print_time):
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