using Klipper reactor for file write process handling

shaketune/commands/accelerometer.py

@@ -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 = []

shaketune/commands/axes_map_calibration.py

@@ -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
+        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')
+        gcode.run_script_from_command(
-    else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+            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')
 
@@ -93,9 +95,11 @@ 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
+    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}')
+        gcode.run_script_from_command(
-    else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+            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()

shaketune/commands/axes_shaper_calibration.py

@@ -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()
@@ -121,7 +121,7 @@ def axes_shaper_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
+    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}')

shaketune/commands/compare_belts_responses.py

@@ -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()
@@ -89,10 +89,10 @@ 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
+    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

shaketune/commands/create_vibrations_profile.py

@@ -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
+    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')
+        gcode.run_script_from_command(
-    else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+            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
+    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}')
+        gcode.run_script_from_command(
-    else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+            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()
 

shaketune/commands/excitate_axis_at_freq.py

@@ -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')