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serialqueue: Support notification of when a command is processed

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Add ability for the host code to get a notification when the ack for a
command sent to the micro-controller is received.  This is in
preparation for improved detection of message loss between mcu and
host.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2020-02-14 20:47:08 -05:00
parent 7b90830ae5
commit c6c360c4e1
4 changed files with 79 additions and 17 deletions
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31
klippy/serialhdl.py
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@@ -1,6 +1,6 @@
# Serial port management for firmware communication
#
# Copyright (C) 2016-2019 Kevin O'Connor <kevin@koconnor.net>
# Copyright (C) 2016-2020 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, threading
@@ -32,13 +32,22 @@ class SerialReader:
self.handlers = {}
self.register_response(self._handle_unknown_init, '#unknown')
self.register_response(self.handle_output, '#output')
# Sent message notification tracking
self.last_notify_id = 0
self.pending_notifications = {}
def _bg_thread(self):
response = self.ffi_main.new('struct pull_queue_message *')
while 1:
self.ffi_lib.serialqueue_pull(self.serialqueue, response)
count = response.len
if count <= 0:
if count < 0:
break
if response.notify_id:
params = {'#sent_time': response.sent_time,
'#receive_time': response.receive_time}
completion = self.pending_notifications.pop(response.notify_id)
self.reactor.async_complete(completion, params)
continue
params = self.msgparser.parse(response.msg[0:count])
params['#sent_time'] = response.sent_time
params['#receive_time'] = response.receive_time
@@ -126,6 +135,9 @@ class SerialReader:
if self.ser is not None:
self.ser.close()
self.ser = None
for pn in self.pending_notifications.values():
pn.complete(None)
self.pending_notifications.clear()
def stats(self, eventtime):
if self.serialqueue is None:
return ""
@@ -145,8 +157,19 @@ class SerialReader:
self.handlers[name, oid] = callback
# Command sending
def raw_send(self, cmd, minclock, reqclock, cmd_queue):
self.ffi_lib.serialqueue_send(
self.serialqueue, cmd_queue, cmd, len(cmd), minclock, reqclock)
self.ffi_lib.serialqueue_send(self.serialqueue, cmd_queue,
cmd, len(cmd), minclock, reqclock, 0)
def raw_send_wait_ack(self, cmd, minclock, reqclock, cmd_queue):
self.last_notify_id += 1
nid = self.last_notify_id
completion = self.reactor.completion()
self.pending_notifications[nid] = completion
self.ffi_lib.serialqueue_send(self.serialqueue, cmd_queue,
cmd, len(cmd), minclock, reqclock, nid)
params = completion.wait()
if params is None:
raise error("Serial connection closed")
return params
def send(self, msg, minclock=0, reqclock=0):
cmd = self.msgparser.create_command(msg)
self.raw_send(cmd, minclock, reqclock, self.default_cmd_queue)