she done

new_shit/python/modules/sketchy_machine_motion.py

@@ -106,8 +106,8 @@ class SketchyMachineMotion:
             print_point_transmits = False  
         ), self.queue_planner)
 
-        print("Machine / Begin: Waiting for Clocks... ")
-        await asyncio.sleep(3)
+        # print("Machine / Begin: Waiting for Clocks... ")
+        # await asyncio.sleep(3)
         print("Machine / Begin: Startup MAXL... ")
         await self._maxl_core.begin()
         print("Machine / Begin: ... done ")

new_shit/python/osap/discovery/netrunner.py

+import asyncio 
 from dataclasses import dataclass
 from typing import List, TYPE_CHECKING
 from osap.packets.routes import Route, route_build
 from ..utils.keys import PacketKeys
-from ..utils.time_utils import get_millisecond_timestamp
+from ..utils.time_utils import get_millisecond_timestamp, get_microsecond_timestamp
 from ..utils.random_gen import random_four_byte_write_new, random_four_byte_check_match
 from .netrunner_atomics import LinkGatewayInfoResponse, NetRunnerAtomics, PortInfoResponse, RTInfoResponse
 
@@ -178,3 +179,52 @@ class NetRunner:
 
         finally:
             self.map_discovery_is_running = False
+    
+        # end update_map
+
+    # properly, this would add a metric for clock stability as well... 
+    async def await_time_settle(self, print_updates = False, await_spread_epsilon_us = 1000):
+        skew_alpha = 0.95   # fw default is 0.95 
+        p_gain = 0.000001   # fw default is 0.000001, minimum gain is 0.0000003
+
+        if self.map_completion_time == 0 or len(self.map.runtimes) == 1:
+            return 
+
+        # initialize settings for each device... 
+        for d, device in enumerate(self.map.runtimes):
+            if device.protocol_build == 'Python':
+                continue 
+            
+            # basically get everyone on-time and with 1.0 skew to start even keeled, 
+            now = get_microsecond_timestamp()
+            await self.atomics.set_time_config(device.route, now, 1.0, skew_alpha, p_gain, True)
+
+        ok_cycle_count = 0 
+        ok_cycle_pass = 3 
+
+        # now run a loop where we poll each, get a grouping... and post it ? 
+        while True:
+            clock_errors = []
+            rtts = []
+            for d, device in enumerate(self.map.runtimes):
+                if device.protocol_build == 'Python':
+                    continue 
+
+                our_time = get_microsecond_timestamp()
+                time_stats = await self.atomics.get_time_config(device.route)
+                device_time = time_stats.system_time - time_stats.rtt / 2 
+                clock_errors.append(our_time - device_time)
+                rtts.append(time_stats.rtt)
+
+            print(F"ERRS: {[int(err) for err in clock_errors]}, \tRTT: {[int(rtt) for rtt in rtts]}")
+
+            if all(abs(err) < await_spread_epsilon_us for err in clock_errors):
+                ok_cycle_count += 1 
+            else:
+                ok_cycle_count = 0 
+
+            if ok_cycle_count >= ok_cycle_pass:
+                print("CLOCKS OK...")
+                return 
+            else:
+                await asyncio.sleep(0.25) 
\ No newline at end of file

new_shit/python/sketchy.py

@@ -47,9 +47,14 @@ async def main():
         # ... clip 21500, seems like where the fuckups start... 
         # parser = GCodeParser("test_files/3DBenchy_Top.gcode")
 
+        print("---------------------------------- collect system ...")
+
         system_map = await osap.netrunner.update_map()
         system_map.print()
 
+        print("---------------------------------- wait for clocks to settle ...")
+        await osap.netrunner.await_time_settle(print_updates=True)
+
         print("---------------------------------- machine setup ...")
         machine = SketchyMachineMotion(osap, system_interpolation_interval, system_twin_to_real_ms, extents = machine_extents)
         await machine.begin()