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using Klipper reactor for file write process handling

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This commit is contained in:
Félix Boisselier
2024-06-20 11:59:19 +02:00
parent 90ed7aca3c
commit 50ed13ca59
6 changed files with 62 additions and 32 deletions
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28
shaketune/commands/accelerometer.py
View File

@@ -13,10 +13,13 @@ import os
import time
from multiprocessing import Process, Queue
FILE_WRITE_TIMEOUT = 10 # seconds
class Accelerometer:
def __init__(self, klipper_accelerometer):
def __init__(self, reactor, klipper_accelerometer):
self._k_accelerometer = klipper_accelerometer
self._reactor = reactor
self._bg_client = None
self._write_queue = Queue()
@@ -70,16 +73,35 @@ class Accelerometer:
os.nice(20)
except Exception:
pass
with open(filename, 'w') as f:
f.write('#time,accel_x,accel_y,accel_z\n')
samples = bg_client.samples or bg_client.get_samples()
for t, accel_x, accel_y, accel_z in samples:
f.write(f'{t:.6f},{accel_x:.6f},{accel_y:.6f},{accel_z:.6f}\n')
self._write_queue.get()
def wait_for_file_writes(self):
while not self._write_queue.empty():
time.sleep(0.1)
eventtime = self._reactor.monotonic()
self._reactor.pause(eventtime + 0.1)
for proc in self._write_processes:
proc.join()
if proc is None:
continue
eventtime = self._reactor.monotonic()
endtime = eventtime + FILE_WRITE_TIMEOUT
complete = False
while eventtime < endtime:
eventtime = self._reactor.pause(eventtime + 0.05)
if not proc.is_alive():
complete = True
break
if not complete:
raise TimeoutError(
'Shake&Tune was not able to write the accelerometer data into the CSV file. '
'This might be due to a slow SD card or a busy or full filesystem.'
)
self._write_processes = []

20
shaketune/commands/axes_map_calibration.py
View File

@@ -37,7 +37,7 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
raise gcmd.error(
f'The parameter axes_map is already set in your {accel_chip} configuration! Please remove it (or set it to "x,y,z")!'
)
accelerometer = Accelerometer(k_accelerometer)
accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
@@ -45,9 +45,11 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
# set the wanted acceleration values
if 'minimum_cruise_ratio' in toolhead_info:
old_mcr = toolhead_info['minimum_cruise_ratio'] # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = toolhead_info['minimum_cruise_ratio'] # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(
f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0'
)
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = None
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')
@@ -93,11 +95,13 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
input_shaper.enable_shaping()
# Restore the previous acceleration values
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(
f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
)
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
toolhead.wait_moves()
# Run post-processing

12
shaketune/commands/axes_shaper_calibration.py
View File

@@ -76,10 +76,10 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
# set the needed acceleration values for the test
toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = None
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
@@ -99,7 +99,7 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
accel_chip = Accelerometer.find_axis_accelerometer(printer, config['axis'])
if accel_chip is None:
raise gcmd.error('No suitable accelerometer found for measurement!')
accelerometer = Accelerometer(printer.lookup_object(accel_chip))
accelerometer = Accelerometer(printer.get_reactor(), printer.lookup_object(accel_chip))
# Then do the actual measurements
accelerometer.start_measurement()
@@ -119,9 +119,9 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
# Re-enable the input shaper if it was active
if input_shaper is not None:
input_shaper.enable_shaping()
# Restore the previous acceleration values
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')

12
shaketune/commands/compare_belts_responses.py
View File

@@ -60,7 +60,7 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
raise gcmd.error(
'No suitable accelerometer found for measurement! Multi-accelerometer configurations are not supported for this macro.'
)
accelerometer = Accelerometer(printer.lookup_object(accel_chip))
accelerometer = Accelerometer(printer.get_reactor(), printer.lookup_object(accel_chip))
# Move to the starting point
test_points = res_tester.test.get_start_test_points()
@@ -88,11 +88,11 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
# set the needed acceleration values for the test
toolhead_info = toolhead.get_status(systime)
old_accel = toolhead_info['max_accel']
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
old_accel = toolhead_info['max_accel']
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = None
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
@@ -116,9 +116,9 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
input_shaper.enable_shaping()
# Restore the previous acceleration values
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')
# Run post-processing

20
shaketune/commands/create_vibrations_profile.py
View File

@@ -62,10 +62,12 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
old_sqv = toolhead_info['square_corner_velocity']
# set the wanted acceleration values
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
old_mcr = toolhead_info['minimum_cruise_ratio']
gcode.run_script_from_command(
f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0'
)
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
old_mcr = None
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')
@@ -95,7 +97,7 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
if k_accelerometer is None:
raise gcmd.error(f'Accelerometer [{current_accel_chip}] not found!')
ConsoleOutput.print(f'Accelerometer chip used for this angle: [{current_accel_chip}]')
accelerometer = Accelerometer(k_accelerometer)
accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
# Sweep the speed range to record the vibrations at different speeds
for curr_speed_sample in range(nb_speed_samples):
@@ -138,9 +140,11 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
accelerometer.wait_for_file_writes()
# Restore the previous acceleration values
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}')
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
gcode.run_script_from_command(
f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
)
else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
toolhead.wait_moves()

2
shaketune/commands/excitate_axis_at_freq.py
View File

@@ -41,7 +41,7 @@ def excitate_axis_at_freq(gcmd, config, st_process: ShakeTuneProcess) -> None:
k_accelerometer = printer.lookup_object(accel_chip, None)
if k_accelerometer is None:
raise gcmd.error(f'Accelerometer chip [{accel_chip}] was not found!')
accelerometer = Accelerometer(k_accelerometer)
accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
ConsoleOutput.print(f'Excitating {axis.upper()} axis at {freq}Hz for {duration} seconds')