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bulk_sensor: Rework APIDumpHelper() to BatchBulkHelper()

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The APIDumpHelper class is mainly intended to help process messages in
batches.  Rework the class methods to make that more clear.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2023-12-16 23:26:42 -05:00
parent 95c753292d
commit 3370134593
6 changed files with 112 additions and 124 deletions
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32
klippy/extras/motion_report.py
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@@ -12,11 +12,12 @@ class DumpStepper:
def __init__(self, printer, mcu_stepper):
self.printer = printer
self.mcu_stepper = mcu_stepper
self.last_api_clock = 0
self.api_dump = bulk_sensor.APIDumpHelper(printer, self._api_update)
self.last_batch_clock = 0
self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
self._process_batch)
api_resp = {'header': ('interval', 'count', 'add')}
self.api_dump.add_mux_endpoint("motion_report/dump_stepper", "name",
mcu_stepper.get_name(), api_resp)
self.batch_bulk.add_mux_endpoint("motion_report/dump_stepper", "name",
mcu_stepper.get_name(), api_resp)
def get_step_queue(self, start_clock, end_clock):
mcu_stepper = self.mcu_stepper
res = []
@@ -42,15 +43,15 @@ class DumpStepper:
% (i, s.first_clock, s.start_position, s.interval,
s.step_count, s.add))
logging.info('\n'.join(out))
def _api_update(self, eventtime):
data, cdata = self.get_step_queue(self.last_api_clock, 1<<63)
def _process_batch(self, eventtime):
data, cdata = self.get_step_queue(self.last_batch_clock, 1<<63)
if not data:
return {}
clock_to_print_time = self.mcu_stepper.get_mcu().clock_to_print_time
first = data[0]
first_clock = first.first_clock
first_time = clock_to_print_time(first_clock)
self.last_api_clock = last_clock = data[-1].last_clock
self.last_batch_clock = last_clock = data[-1].last_clock
last_time = clock_to_print_time(last_clock)
mcu_pos = first.start_position
start_position = self.mcu_stepper.mcu_to_commanded_position(mcu_pos)
@@ -71,12 +72,13 @@ class DumpTrapQ:
self.printer = printer
self.name = name
self.trapq = trapq
self.last_api_msg = (0., 0.)
self.api_dump = bulk_sensor.APIDumpHelper(printer, self._api_update)
self.last_batch_msg = (0., 0.)
self.batch_bulk = bulk_sensor.BatchBulkHelper(printer,
self._process_batch)
api_resp = {'header': ('time', 'duration', 'start_velocity',
'acceleration', 'start_position', 'direction')}
self.api_dump.add_mux_endpoint("motion_report/dump_trapq", "name", name,
api_resp)
self.batch_bulk.add_mux_endpoint("motion_report/dump_trapq",
"name", name, api_resp)
def extract_trapq(self, start_time, end_time):
ffi_main, ffi_lib = chelper.get_ffi()
res = []
@@ -115,17 +117,17 @@ class DumpTrapQ:
move.start_z + move.z_r * dist)
velocity = move.start_v + move.accel * move_time
return pos, velocity
def _api_update(self, eventtime):
qtime = self.last_api_msg[0] + min(self.last_api_msg[1], 0.100)
def _process_batch(self, eventtime):
qtime = self.last_batch_msg[0] + min(self.last_batch_msg[1], 0.100)
data, cdata = self.extract_trapq(qtime, NEVER_TIME)
d = [(m.print_time, m.move_t, m.start_v, m.accel,
(m.start_x, m.start_y, m.start_z), (m.x_r, m.y_r, m.z_r))
for m in data]
if d and d[0] == self.last_api_msg:
if d and d[0] == self.last_batch_msg:
d.pop(0)
if not d:
return {}
self.last_api_msg = d[-1]
self.last_batch_msg = d[-1]
return {"data": d}
STATUS_REFRESH_TIME = 0.250