fix random Timer too close or Move queue overflow errors (#123)

shaketune/commands/accelerometer.py

@@ -9,15 +9,18 @@
 #              accelerometer measurements and write the data to a file in a blocking manner.
 
 
+import os
 import time
-
+from multiprocessing import Process, Queue
-# from ..helpers.console_output import ConsoleOutput
 
 
 class Accelerometer:
     def __init__(self, klipper_accelerometer):
         self._k_accelerometer = klipper_accelerometer
+
         self._bg_client = None
+        self._write_queue = Queue()
+        self._write_processes = []
 
     @staticmethod
     def find_axis_accelerometer(printer, axis: str = 'xy'):
@@ -32,7 +35,6 @@ class Accelerometer:
     def start_measurement(self):
         if self._bg_client is None:
             self._bg_client = self._k_accelerometer.start_internal_client()
-            # ConsoleOutput.print('Accelerometer measurements started')
         else:
             raise ValueError('measurements already started!')
 
@@ -54,12 +56,30 @@ class Accelerometer:
         bg_client.finish_measurements()
 
         filename = f'/tmp/shaketune-{name}.csv'
-        self._write_to_file(bg_client, filename)
+        self._queue_file_write(bg_client, filename)
-        # ConsoleOutput.print(f'Accelerometer measurements stopped. Data written to {filename}')
+
+    def _queue_file_write(self, bg_client, filename):
+        self._write_queue.put(filename)
+        write_proc = Process(target=self._write_to_file, args=(bg_client, filename))
+        write_proc.daemon = True
+        write_proc.start()
+        self._write_processes.append(write_proc)
 
     def _write_to_file(self, bg_client, filename):
+        try:
+            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)
+        for proc in self._write_processes:
+            proc.join()
+        self._write_processes = []

shaketune/commands/axes_map_calibration.py

@@ -82,6 +82,8 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     toolhead.dwell(0.5)
     accelerometer.stop_measurement('axesmap_Z', append_time=True)
 
+    accelerometer.wait_for_file_writes()
+
     # Re-enable the input shaper if it was active
     if input_shaper is not None:
         input_shaper.enable_shaping()

shaketune/commands/axes_shaper_calibration.py

@@ -103,6 +103,8 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
         accelerometer.stop_measurement(config['label'], append_time=True)
 
+        accelerometer.wait_for_file_writes()
+
         # And finally generate the graph for each measured axis
         ConsoleOutput.print(f'{config["axis"].upper()} axis frequency profile generation...')
         ConsoleOutput.print('This may take some time (1-3min)')

shaketune/commands/compare_belts_responses.py

@@ -103,6 +103,8 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
         vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
         accelerometer.stop_measurement(config['label'], append_time=True)
 
+    accelerometer.wait_for_file_writes()
+
     # Re-enable the input shaper if it was active
     if input_shaper is not None:
         input_shaper.enable_shaping()

shaketune/commands/create_vibrations_profile.py

@@ -90,8 +90,8 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
         k_accelerometer = printer.lookup_object(current_accel_chip, None)
         if k_accelerometer is None:
             raise gcmd.error(f'Accelerometer [{current_accel_chip}] not found!')
-        accelerometer = Accelerometer(k_accelerometer)
         ConsoleOutput.print(f'Accelerometer chip used for this angle: [{current_accel_chip}]')
+        accelerometer = Accelerometer(k_accelerometer)
 
         # Sweep the speed range to record the vibrations at different speeds
         for curr_speed_sample in range(nb_speed_samples):
@@ -131,6 +131,8 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
             toolhead.dwell(0.3)
             toolhead.wait_moves()
 
+        accelerometer.wait_for_file_writes()
+
     # Restore the previous acceleration values
     gcode.run_script_from_command(
         f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'

shaketune/commands/excitate_axis_at_freq.py

@@ -100,6 +100,7 @@ def excitate_axis_at_freq(gcmd, config, st_process: ShakeTuneProcess) -> None:
     # If the user wanted to create a graph, we stop the recording and generate it
     if create_graph:
         accelerometer.stop_measurement(f'staticfreq_{axis.upper()}', append_time=True)
+        accelerometer.wait_for_file_writes()
 
         creator = st_process.get_graph_creator()
         creator.configure(freq, duration, accel_per_hz)

shaketune/shaketune.py

@@ -117,29 +117,54 @@ class ShakeTune:
     def cmd_EXCITATE_AXIS_AT_FREQ(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
         static_freq_graph_creator = StaticGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, static_freq_graph_creator, self.timeout)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            static_freq_graph_creator,
+            self.timeout,
+        )
         excitate_axis_at_freq(gcmd, self._pconfig, st_process)
 
     def cmd_AXES_MAP_CALIBRATION(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
         axes_map_graph_creator = AxesMapGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, axes_map_graph_creator, self.timeout)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            axes_map_graph_creator,
+            self.timeout,
+        )
         axes_map_calibration(gcmd, self._pconfig, st_process)
 
     def cmd_COMPARE_BELTS_RESPONSES(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
         belt_graph_creator = BeltsGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, belt_graph_creator, self.timeout)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            belt_graph_creator,
+            self.timeout,
+        )
         compare_belts_responses(gcmd, self._pconfig, st_process)
 
     def cmd_AXES_SHAPER_CALIBRATION(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
         shaper_graph_creator = ShaperGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, shaper_graph_creator, self.timeout)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            shaper_graph_creator,
+            self.timeout,
+        )
         axes_shaper_calibration(gcmd, self._pconfig, st_process)
 
     def cmd_CREATE_VIBRATIONS_PROFILE(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
         vibration_profile_creator = VibrationsGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, vibration_profile_creator, self.timeout)
+        st_process = ShakeTuneProcess(
+            self._config,
+            self._printer.get_reactor(),
+            vibration_profile_creator,
+            self.timeout,
+        )
         create_vibrations_profile(gcmd, self._pconfig, st_process)

shaketune/shaketune_process.py

@@ -8,10 +8,10 @@
 #              vibration analysis processes in separate system processes.
 
 
-import multiprocessing
 import os
 import threading
 import traceback
+from multiprocessing import Process
 from typing import Optional
 
 from .helpers.console_output import ConsoleOutput
@@ -19,11 +19,11 @@ from .shaketune_config import ShakeTuneConfig
 
 
 class ShakeTuneProcess:
-    def __init__(self, config: ShakeTuneConfig, graph_creator, timeout: Optional[float] = None) -> None:
+    def __init__(self, st_config: ShakeTuneConfig, reactor, graph_creator, timeout: Optional[float] = None) -> None:
-        self._config = config
+        self._config = st_config
+        self._reactor = reactor
         self.graph_creator = graph_creator
         self._timeout = timeout
-
         self._process = None
 
     def get_graph_creator(self):
@@ -31,22 +31,32 @@ class ShakeTuneProcess:
 
     def run(self) -> None:
         # Start the target function in a new process (a thread is known to cause issues with Klipper and CANbus due to the GIL)
-        self._process = multiprocessing.Process(
+        self._process = Process(target=self._shaketune_process_wrapper, args=(self.graph_creator, self._timeout))
-            target=self._shaketune_process_wrapper, args=(self.graph_creator, self._timeout)
-        )
         self._process.start()
 
     def wait_for_completion(self) -> None:
-        if self._process is not None:
+        if self._process is None:
-            self._process.join()
+            return  # Nothing to wait for
+        eventtime = self._reactor.monotonic()
+        endtime = eventtime + self._timeout
+        complete = False
+        while eventtime < endtime:
+            eventtime = self._reactor.pause(eventtime + 0.05)
+            if not self._process.is_alive():
+                complete = True
+                break
+        if not complete:
+            self._handle_timeout()
 
     # This function is a simple wrapper to start the Shake&Tune process. It's needed in order to get the timeout
     # as a Timer in a thread INSIDE the Shake&Tune child process to not interfere with the main Klipper process
     def _shaketune_process_wrapper(self, graph_creator, timeout) -> None:
         if timeout is not None:
+            # Add 5 seconds to the timeout for safety. The goal is to avoid the Timer to finish before the
+            # Shake&Tune process is done in case we call the wait_for_completion() function that uses Klipper's reactor.
+            timeout += 5
             timer = threading.Timer(timeout, self._handle_timeout)
             timer.start()
-
         try:
             self._shaketune_process(graph_creator)
         finally:
@@ -58,10 +68,12 @@ class ShakeTuneProcess:
         os._exit(1)  # Forcefully exit the process
 
     def _shaketune_process(self, graph_creator) -> None:
-        # Trying to reduce Shake&Tune process priority to avoid slowing down the main Klipper process
+        # Reducing Shake&Tune process priority by putting the scheduler into batch mode with low priority. This in order to avoid
-        # as this could lead to random "Timer too close" errors when already running CANbus, etc...
+        # slowing down the main Klipper process as this can lead to random "Timer too close" or "Move queue overflow" errors
+        # when also already running CANbus, neopixels and other consumming stuff in Klipper's main process.
         try:
-            os.nice(19)
+            param = os.sched_param(os.sched_get_priority_min(os.SCHED_BATCH))
+            os.sched_setscheduler(0, os.SCHED_BATCH, param)
         except Exception:
             ConsoleOutput.print('Warning: failed reducing Shake&Tune process priority, continuing...')