noncritical mcus

README.md

@@ -74,6 +74,8 @@ If you're feeling adventurous, take a peek at the extra features in the bleeding
 
 - [input_shaper: new print_ringing_tower utility](https://github.com/DangerKlippers/danger-klipper/pull/69)
 
+- [core: non critical mcus](https://github.com/DangerKlippers/danger-klipper/pull/42)
+
 ## Switch to Danger Klipper
 
 > [!NOTE]

klippy/clocksync.py

@@ -29,6 +29,9 @@ def __init__(self, reactor):
         self.prediction_variance = 0.0
         self.last_prediction_time = 0.0
 
+    def disconnect(self):
+        self.reactor.update_timer(self.get_clock_timer, self.reactor.NEVER)
+
     def connect(self, serial):
         self.serial = serial
         self.mcu_freq = serial.msgparser.get_constant_float("CLOCK_FREQ")

klippy/mcu.py

@@ -748,6 +748,7 @@ class MCU:
     error = error
 
     def __init__(self, config, clocksync):
+        self._config = config
         self._printer = printer = config.get_printer()
         self.danger_options = printer.lookup_object("danger_options")
         self._clocksync = clocksync
@@ -810,6 +811,18 @@ def __init__(self, config, clocksync):
         self._mcu_tick_avg = 0.0
         self._mcu_tick_stddev = 0.0
         self._mcu_tick_awake = 0.0
+
+        # noncritical mcus
+        self.non_critical_recon_timer = self._reactor.register_timer(
+            self.non_critical_recon_event
+        )
+        self.is_non_critical = config.getboolean("is_non_critical", False)
+        self._non_critical_disconnected = False
+        # self.last_noncrit_recon_eventtime = None
+        self.reconnect_interval = (
+            config.getfloat("reconnect_interval", 2.0) + 0.12
+        )  # add small change to not collide with other events
+
         # Register handlers
         printer.register_event_handler(
             "klippy:firmware_restart", self._firmware_restart
@@ -855,7 +868,7 @@ def _handle_shutdown(self, params):
         self._printer.invoke_async_shutdown(prefix + msg + error_help(msg))
 
     def _handle_starting(self, params):
-        if not self._is_shutdown:
+        if not self._is_shutdown and not self.is_non_critical:
             self._printer.invoke_async_shutdown(
                 "MCU '%s' spontaneous restart" % (self._name,)
             )
@@ -895,20 +908,35 @@ def dummy_estimated_print_time(eventtime):
 
             self.estimated_print_time = dummy_estimated_print_time
 
+    def handle_non_critical_disconnect(self):
+        self._non_critical_disconnected = True
+        self._clocksync.disconnect()
+        self._disconnect()
+        self._reactor.update_timer(
+            self.non_critical_recon_timer, self._reactor.NOW
+        )
+        logging.info("mcu: %s disconnected", self._name)
+
+    def non_critical_recon_event(self, eventtime):
+        self.recon_mcu()
+        return eventtime + self.reconnect_interval
+
     def _send_config(self, prev_crc):
         # Build config commands
         for cb in self._config_callbacks:
             cb()
         self._config_cmds.insert(
             0, "allocate_oids count=%d" % (self._oid_count,)
         )
+
         # Resolve pin names
         mcu_type = self._serial.get_msgparser().get_constant("MCU")
         ppins = self._printer.lookup_object("pins")
         pin_resolver = ppins.get_pin_resolver(self._name)
         for cmdlist in (self._config_cmds, self._restart_cmds, self._init_cmds):
             for i, cmd in enumerate(cmdlist):
                 cmdlist[i] = pin_resolver.update_command(cmd)
+                logging.info("command: %s", cmdlist[i])
         # Calculate config CRC
         encoded_config = "\n".join(self._config_cmds).encode()
         config_crc = zlib.crc32(encoded_config) & 0xFFFFFFFF
@@ -978,7 +1006,35 @@ def _log_info(self):
         ]
         return "\n".join(log_info)
 
+    def recon_mcu(self):
+        res = self._mcu_identify()
+        if not res:
+            return
+        self.reset_to_initial_state()
+        self._connect()
+        self._reactor.update_timer(
+            self.non_critical_recon_timer, self._reactor.NEVER
+        )
+        self._reactor.unregister_timer(self.non_critical_recon_timer)
+        self.last_noncrit_recon_eventtime = None
+        logging.info("mcu: %s reconnected", self._name)
+
+    def reset_to_initial_state(self):
+        self._oid_count = 0
+        self._config_cmds = []
+        self._restart_cmds = []
+        self._init_cmds = []
+        self._reserved_move_slots = 0
+        self._stepqueues = []
+        self._steppersync = None
+
     def _connect(self):
+        if self._non_critical_disconnected:
+            self.non_critical_recon_timer = self._reactor.register_timer(
+                self.non_critical_recon_event,
+                self._reactor.NOW + self.reconnect_interval,
+            )
+            return
         config_params = self._send_get_config()
         if not config_params["is_config"]:
             if self._restart_method == "rpi_usb":
@@ -1018,7 +1074,16 @@ def _connect(self):
         log_info = self._log_info() + "\n" + move_msg
         self._printer.set_rollover_info(self._name, log_info, log=False)
 
+    def _check_serial_exists(self):
+        rts = self._restart_method != "cheetah"
+        return self._serial.check_connect(self._serialport, self._baud, rts)
+
     def _mcu_identify(self):
+        if self.is_non_critical and not self._check_serial_exists():
+            self._non_critical_disconnected = True
+            return False
+        else:
+            self._non_critical_disconnected = False
         if self.is_fileoutput():
             self._connect_file()
         else:
@@ -1072,6 +1137,7 @@ def _mcu_identify(self):
         self.register_response(self._handle_shutdown, "shutdown")
         self.register_response(self._handle_shutdown, "is_shutdown")
         self.register_response(self._handle_mcu_stats, "stats")
+        return True
 
     # Config creation helpers
     def setup_pin(self, pin_type, pin_params):
@@ -1219,7 +1285,9 @@ def _restart_rpi_usb(self):
         chelper.run_hub_ctrl(1)
 
     def _firmware_restart(self, force=False):
-        if self._is_mcu_bridge and not force:
+        if (
+            self._is_mcu_bridge and not force
+        ) or self._non_critical_disconnected:
             return
         if self._restart_method == "rpi_usb":
             self._restart_rpi_usb()
@@ -1268,6 +1336,9 @@ def check_active(self, print_time, eventtime):
             or self._is_timeout
         ):
             return
+        if self.is_non_critical:
+            self.handle_non_critical_disconnect()
+            return
         self._is_timeout = True
         logging.info(
             "Timeout with MCU '%s' (eventtime=%f)", self._name, eventtime

klippy/serialhdl.py

@@ -203,7 +203,11 @@ def connect_uart(self, serialport, baud, rts=True):
         # Initial connection
         logging.info("%sStarting serial connect", self.warn_prefix)
         start_time = self.reactor.monotonic()
-        while True:
+        while 1:
+            if (
+                self.serialqueue is not None
+            ):  # if we're already connected, don't recon
+                break
             if self.reactor.monotonic() > start_time + 90.0:
                 self._error("Unable to connect")
             try:
@@ -224,6 +228,17 @@ def connect_uart(self, serialport, baud, rts=True):
             if ret:
                 break
 
+    def check_connect(self, serialport, baud, rts=True):
+        serial_dev = serial.Serial(baudrate=baud, timeout=0, exclusive=False)
+        serial_dev.port = serialport
+        serial_dev.rts = rts
+        try:
+            serial_dev.open()
+        except Exception:
+            return False
+        serial_dev.close()
+        return True
+
     def connect_file(self, debugoutput, dictionary, pace=False):
         self.serial_dev = debugoutput
         self.msgparser.process_identify(dictionary, decompress=False)
@@ -280,11 +295,25 @@ def register_response(self, callback, name, oid=None):
 
     # Command sending
     def raw_send(self, cmd, minclock, reqclock, cmd_queue):
+        if self.serialqueue is None:
+            logging.info(
+                "%sSerial connection closed, cmd: %s",
+                self.warn_prefix,
+                repr(cmd),
+            )
+            return
         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):
+        if self.serialqueue is None:
+            logging.info(
+                "%sSerial connection closed, in wait ack, cmd: %s",
+                self.warn_prefix,
+                repr(cmd),
+            )
+            return
         self.last_notify_id += 1
         nid = self.last_notify_id
         completion = self.reactor.completion()