diff --git a/new_shit/python/modules/__pycache__/sketchy_machine_motion.cpython-312.pyc b/new_shit/python/modules/__pycache__/sketchy_machine_motion.cpython-312.pyc
index c050e9984643295899d81ccd19222b753ca0f7d3..7b0ec9a15f2607c2387b0ee53f37bbd5438c34a2 100644
Binary files a/new_shit/python/modules/__pycache__/sketchy_machine_motion.cpython-312.pyc and b/new_shit/python/modules/__pycache__/sketchy_machine_motion.cpython-312.pyc differ
diff --git a/new_shit/python/modules/sketchy_machine_motion.py b/new_shit/python/modules/sketchy_machine_motion.py
index 979c149a7f4a145568e76035462dc9d7fbd6edc0..f2d4ab23da435a5cc5c798f8785f619d38f57a15 100644
--- a/new_shit/python/modules/sketchy_machine_motion.py
+++ b/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 ")
diff --git a/new_shit/python/osap/discovery/__pycache__/netrunner.cpython-312.pyc b/new_shit/python/osap/discovery/__pycache__/netrunner.cpython-312.pyc
index 88bfedf68eb77387609d05b1c05334d640bc93d0..2b06e7c3319397c53337764e82055f0607a4b799 100644
Binary files a/new_shit/python/osap/discovery/__pycache__/netrunner.cpython-312.pyc and b/new_shit/python/osap/discovery/__pycache__/netrunner.cpython-312.pyc differ
diff --git a/new_shit/python/osap/discovery/__pycache__/netrunner_atomics.cpython-312.pyc b/new_shit/python/osap/discovery/__pycache__/netrunner_atomics.cpython-312.pyc
index 34b271659caa5f2882355794d712590f0b51359e..f1cd9586d00161a3f627c4c706ae274c90d31e1d 100644
Binary files a/new_shit/python/osap/discovery/__pycache__/netrunner_atomics.cpython-312.pyc and b/new_shit/python/osap/discovery/__pycache__/netrunner_atomics.cpython-312.pyc differ
diff --git a/new_shit/python/osap/discovery/netrunner.py b/new_shit/python/osap/discovery/netrunner.py
index 00f4f120a4f29901b54258334da8ab1a2dbd5424..9c23b019bc941140937550d4545bb965457f2d56 100644
--- a/new_shit/python/osap/discovery/netrunner.py
+++ b/new_shit/python/osap/discovery/netrunner.py
@@ -1,8 +1,9 @@
+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
diff --git a/new_shit/python/sketchy.py b/new_shit/python/sketchy.py
index 01669115f0171c99c2b2629d9125c02b9b0d3ce1..ed810e4077f2ee73cd5f22026d07d78825b4fa8e 100644
--- a/new_shit/python/sketchy.py
+++ b/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()
diff --git a/new_shit/python/svg/__pycache__/svg_tools.cpython-312.pyc b/new_shit/python/svg/__pycache__/svg_tools.cpython-312.pyc
index e3602598f511f236206844cba7ef9fe04ed31b45..d046940946d8c5a0a97924032433152b4569930f 100644
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