Add a delay after power panic, so the printer can reach pause state

prusa/link/const.py

@@ -100,6 +100,8 @@
 PRINT_END_TIMEOUT = 11
 KEEPALIVE_INTERVAL = 12
 
+PP_MOVES_DELAY = 45
+
 # --- Lcd queue ---
 LCD_QUEUE_SIZE = 30
 

prusa/link/printer_adapter/file_printer.py

@@ -223,6 +223,7 @@ def _print_end(self):
         if self.data.power_panic:
             return
 
+        os.remove(self.data.pp_file_path)
         self.do_instruction("M77")  # stop printer's print timer
 
         self.data.printing = False
@@ -365,6 +366,7 @@ def write_file_stats(self, file_path, message_number, gcode_number):
             connect_path=self.model.job.selected_file_path,
             message_number=message_number,
             gcode_number=gcode_number,
+            using_rip_port=self.model.serial_adapter.using_port.is_rpi_port,
         )
         with open(self.data.pp_file_path, "w", encoding="UTF-8") as pp_file:
             pp_file.write(json.dumps(data.dict()))

prusa/link/printer_adapter/prusa_link.py

@@ -45,6 +45,7 @@
     get_print_stats_gcode,
     is_potato_cpu,
     make_fingerprint,
+    power_panic_delay,
     prctl_name,
 )
 from .auto_telemetry import AutoTelemetry
@@ -120,7 +121,6 @@ class TransferCallbackState(Enum):
     PRINTER_IN_ATTENTION = 3
 
 
-# TODO: Can i somehow make subcontrollers to isolate some of the components?
 class PrusaLink:
     """
     This class is the controller for PrusaLink, more specifically the part
@@ -147,6 +147,9 @@ def __init__(self, cfg: Config, settings: Settings) -> None:
 
         self.serial_parser = ThreadedSerialParser()
 
+        # Wait for power panic recovery to reach a stable state
+        power_panic_delay(cfg)
+
         self.serial = SerialAdapter(
             self.serial_parser,
             self.model,
@@ -952,6 +955,7 @@ def power_panic_observed(self, *_, **__):
         # This is normally a bad idea in a serial handler
         # But as we are holding the serial disconnected anyways, it's OK
         sleep(10)
+        power_panic_delay(self.cfg)
         self.serial.power_panic_unblock()
 
     def recover_from_pp(self, *_, **__) -> None:

prusa/link/printer_adapter/structures/model_classes.py

@@ -149,3 +149,4 @@ class PPData(BaseModel):
     connect_path: str
     message_number: int  # N number on the printer
     gcode_number: int  # From file printer
+    using_rip_port: bool = False

prusa/link/util.py

@@ -1,5 +1,6 @@
 """Contains functions that might be useful outside of their modules"""
 import datetime
+import json
 import logging
 import multiprocessing
 import os
@@ -10,16 +11,25 @@
 from hashlib import sha256
 from pathlib import Path
 from threading import Event, current_thread
-from time import time
+from time import sleep, time
 from typing import Callable
 
 import prctl  # type: ignore
 import pyudev  # type: ignore
 import unidecode
 
-from .const import MMU_SLOTS, SD_STORAGE_NAME, SUPPORTED_PRINTERS
+from .const import (
+    MMU_SLOTS,
+    PP_MOVES_DELAY,
+    SD_STORAGE_NAME,
+    SUPPORTED_PRINTERS,
+)
 from .multi_instance.const import VALID_SN_REGEX
-from .printer_adapter.structures.model_classes import IndividualSlot, Slot
+from .printer_adapter.structures.model_classes import (
+    IndividualSlot,
+    PPData,
+    Slot,
+)
 
 log = logging.getLogger(__name__)
 
@@ -315,3 +325,20 @@ def _parse_little_endian_uint32(match):
     str_data = match.group("data").replace(" ", "")
     data = bytes.fromhex(str_data)
     return struct.unpack("<I", data)[0]
+
+
+def power_panic_delay(cfg):
+    """Adds a dynamic delay depending on power panic details.
+    This is needed so the printer reaches a stable state before we reset it."""
+    pp_file_path = cfg.daemon.power_panic_file
+    if not os.path.exists(pp_file_path):
+        return
+
+    with open(pp_file_path, "r", encoding="UTF-8") as pp_file:
+        pp_data = PPData(**json.load(pp_file))
+        if pp_data.using_rip_port:
+            return
+
+        log.info("Waiting an extra %ss for printer to heat up "
+                 "and finish its moves", PP_MOVES_DELAY)
+        sleep(PP_MOVES_DELAY)