mirror of
https://github.com/QIDITECH/klipper.git
synced 2026-02-03 01:18:43 +03:00
plus4的klipper版本
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whb0514
@@ -5,110 +5,19 @@
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import logging
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import chelper
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API_UPDATE_INTERVAL = 0.500
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# Helper to periodically transmit data to a set of API clients
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class APIDumpHelper:
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def __init__(self, printer, data_cb, startstop_cb=None,
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update_interval=API_UPDATE_INTERVAL):
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self.printer = printer
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self.data_cb = data_cb
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if startstop_cb is None:
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startstop_cb = (lambda is_start: None)
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self.startstop_cb = startstop_cb
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self.is_started = False
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self.update_interval = update_interval
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self.update_timer = None
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self.clients = {}
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def _stop(self):
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self.clients.clear()
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reactor = self.printer.get_reactor()
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reactor.unregister_timer(self.update_timer)
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self.update_timer = None
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if not self.is_started:
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return reactor.NEVER
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try:
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self.startstop_cb(False)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper stop callback error")
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self.clients.clear()
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self.is_started = False
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if self.clients:
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# New client started while in process of stopping
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self._start()
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return reactor.NEVER
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def _start(self):
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if self.is_started:
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return
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self.is_started = True
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try:
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self.startstop_cb(True)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper start callback error")
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self.is_started = False
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self.clients.clear()
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raise
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reactor = self.printer.get_reactor()
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systime = reactor.monotonic()
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waketime = systime + self.update_interval
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self.update_timer = reactor.register_timer(self._update, waketime)
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def add_client(self, web_request):
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cconn = web_request.get_client_connection()
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template = web_request.get_dict('response_template', {})
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self.clients[cconn] = template
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self._start()
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def add_internal_client(self):
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cconn = InternalDumpClient()
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self.clients[cconn] = {}
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self._start()
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return cconn
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def _update(self, eventtime):
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try:
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msg = self.data_cb(eventtime)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper data callback error")
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return self._stop()
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if not msg:
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return eventtime + self.update_interval
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for cconn, template in list(self.clients.items()):
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if cconn.is_closed():
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del self.clients[cconn]
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if not self.clients:
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return self._stop()
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continue
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tmp = dict(template)
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tmp['params'] = msg
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cconn.send(tmp)
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return eventtime + self.update_interval
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# An "internal webhooks" wrapper for using APIDumpHelper internally
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class InternalDumpClient:
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def __init__(self):
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self.msgs = []
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self.is_done = False
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def get_messages(self):
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return self.msgs
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def finalize(self):
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self.is_done = True
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def is_closed(self):
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return self.is_done
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def send(self, msg):
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self.msgs.append(msg)
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if len(self.msgs) >= 10000:
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# Avoid filling up memory with too many samples
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self.finalize()
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from . import bulk_sensor
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# Extract stepper queue_step messages
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class DumpStepper:
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def __init__(self, printer, mcu_stepper):
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self.printer = printer
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self.mcu_stepper = mcu_stepper
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self.last_api_clock = 0
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self.api_dump = APIDumpHelper(printer, self._api_update)
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("motion_report/dump_stepper", "name",
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mcu_stepper.get_name(), self._add_api_client)
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self.last_batch_clock = 0
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self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
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self._process_batch)
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api_resp = {'header': ('interval', 'count', 'add')}
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self.batch_bulk.add_mux_endpoint("motion_report/dump_stepper", "name",
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mcu_stepper.get_name(), api_resp)
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def get_step_queue(self, start_clock, end_clock):
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mcu_stepper = self.mcu_stepper
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res = []
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@@ -134,15 +43,15 @@ class DumpStepper:
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% (i, s.first_clock, s.start_position, s.interval,
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s.step_count, s.add))
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logging.info('\n'.join(out))
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def _api_update(self, eventtime):
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data, cdata = self.get_step_queue(self.last_api_clock, 1<<63)
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def _process_batch(self, eventtime):
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data, cdata = self.get_step_queue(self.last_batch_clock, 1<<63)
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if not data:
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return {}
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clock_to_print_time = self.mcu_stepper.get_mcu().clock_to_print_time
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first = data[0]
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first_clock = first.first_clock
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first_time = clock_to_print_time(first_clock)
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self.last_api_clock = last_clock = data[-1].last_clock
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self.last_batch_clock = last_clock = data[-1].last_clock
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last_time = clock_to_print_time(last_clock)
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mcu_pos = first.start_position
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start_position = self.mcu_stepper.mcu_to_commanded_position(mcu_pos)
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@@ -154,10 +63,6 @@ class DumpStepper:
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"start_mcu_position": mcu_pos, "step_distance": step_dist,
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"first_clock": first_clock, "first_step_time": first_time,
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"last_clock": last_clock, "last_step_time": last_time}
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def _add_api_client(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('interval', 'count', 'add')
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web_request.send({'header': hdr})
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NEVER_TIME = 9999999999999999.
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@@ -167,11 +72,13 @@ class DumpTrapQ:
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self.printer = printer
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self.name = name
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self.trapq = trapq
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self.last_api_msg = (0., 0.)
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self.api_dump = APIDumpHelper(printer, self._api_update)
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("motion_report/dump_trapq", "name", name,
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self._add_api_client)
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self.last_batch_msg = (0., 0.)
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self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
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self._process_batch)
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api_resp = {'header': ('time', 'duration', 'start_velocity',
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'acceleration', 'start_position', 'direction')}
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self.batch_bulk.add_mux_endpoint("motion_report/dump_trapq",
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"name", name, api_resp)
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def extract_trapq(self, start_time, end_time):
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ffi_main, ffi_lib = chelper.get_ffi()
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res = []
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@@ -210,23 +117,18 @@ class DumpTrapQ:
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move.start_z + move.z_r * dist)
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velocity = move.start_v + move.accel * move_time
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return pos, velocity
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def _api_update(self, eventtime):
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qtime = self.last_api_msg[0] + min(self.last_api_msg[1], 0.100)
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def _process_batch(self, eventtime):
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qtime = self.last_batch_msg[0] + min(self.last_batch_msg[1], 0.100)
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data, cdata = self.extract_trapq(qtime, NEVER_TIME)
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d = [(m.print_time, m.move_t, m.start_v, m.accel,
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(m.start_x, m.start_y, m.start_z), (m.x_r, m.y_r, m.z_r))
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for m in data]
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if d and d[0] == self.last_api_msg:
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if d and d[0] == self.last_batch_msg:
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d.pop(0)
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if not d:
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return {}
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self.last_api_msg = d[-1]
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self.last_batch_msg = d[-1]
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return {"data": d}
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def _add_api_client(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('time', 'duration', 'start_velocity', 'acceleration',
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'start_position', 'direction')
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web_request.send({'header': hdr})
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STATUS_REFRESH_TIME = 0.250
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