#!/usr/bin/env python3 import os from pathlib import Path from .commands import ( axes_map_calibration, axes_shaper_calibration, compare_belts_responses, create_vibrations_profile, excitate_axis_at_freq, ) from .graph_creators import ( AxesMapGraphCreator, BeltsGraphCreator, ShaperGraphCreator, StaticGraphCreator, VibrationsGraphCreator, ) from .helpers.console_output import ConsoleOutput from .shaketune_config import ShakeTuneConfig from .shaketune_process import ShakeTuneProcess class ShakeTune: def __init__(self, config) -> None: self._pconfig = config self._printer = config.get_printer() gcode = self._printer.lookup_object('gcode') res_tester = self._printer.lookup_object('resonance_tester', None) if res_tester is None: config.error('No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune.') self.timeout = config.getfloat('timeout', 300, above=0.0) result_folder = config.get('result_folder', default='~/printer_data/config/ShakeTune_results') result_folder_path = Path(result_folder).expanduser() if result_folder else None keep_n_results = config.getint('number_of_results_to_keep', default=3, minval=0) keep_csv = config.getboolean('keep_raw_csv', default=False) show_macros = config.getboolean('show_macros_in_webui', default=True) dpi = config.getint('dpi', default=150, minval=100, maxval=500) self._config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi) ConsoleOutput.register_output_callback(gcode.respond_info) commands = [ ( 'EXCITATE_AXIS_AT_FREQ', self.cmd_EXCITATE_AXIS_AT_FREQ, 'Maintain a specified excitation frequency for a period of time to diagnose and locate a source of vibration', ), ( 'AXES_MAP_CALIBRATION', self.cmd_AXES_MAP_CALIBRATION, 'Perform a set of movements to measure the orientation of the accelerometer and help you set the best axes_map configuration for your printer', ), ( 'COMPARE_BELTS_RESPONSES', self.cmd_COMPARE_BELTS_RESPONSES, 'Perform a custom half-axis test to analyze and compare the frequency profiles of individual belts on CoreXY printers', ), ( 'AXES_SHAPER_CALIBRATION', self.cmd_AXES_SHAPER_CALIBRATION, 'Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter', ), ( 'CREATE_VIBRATIONS_PROFILE', self.cmd_CREATE_VIBRATIONS_PROFILE, 'Perform a set of movements to measure the orientation of the accelerometer and help you set the best axes_map configuration for your printer', ), ] command_descriptions = {name: desc for name, _, desc in commands} for name, command, description in commands: gcode.register_command(f'_{name}' if show_macros else name, command, desc=description) # Load the dummy macros with their description in order to show them in the web interfaces if show_macros: pconfig = self._printer.lookup_object('configfile') dirname = os.path.dirname(os.path.realpath(__file__)) filename = os.path.join(dirname, 'dummy_macros.cfg') try: dummy_macros_cfg = pconfig.read_config(filename) except Exception as err: raise config.error("Cannot load Shake&Tune dummy macro '%s'" % (filename,)) from err for gcode_macro in dummy_macros_cfg.get_prefix_sections('gcode_macro '): gcode_macro_name = gcode_macro.get_name() # Replace the dummy description by the one here (to avoid code duplication and define it in only one place) command = gcode_macro_name.split(' ', 1)[1] description = command_descriptions.get(command, 'Shake&Tune macro') gcode_macro.fileconfig.set(gcode_macro_name, 'description', description) # Add the section to the Klipper configuration object with all its options if not config.fileconfig.has_section(gcode_macro_name.lower()): config.fileconfig.add_section(gcode_macro_name.lower()) for option in gcode_macro.fileconfig.options(gcode_macro_name): value = gcode_macro.fileconfig.get(gcode_macro_name, option) config.fileconfig.set(gcode_macro_name.lower(), option, value) # Small trick to ensure the new injected sections are considered valid by Klipper config system config.access_tracking[(gcode_macro_name.lower(), option.lower())] = 1 # Finally, load the section within the printer objects self._printer.load_object(config, gcode_macro_name.lower()) 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) 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) 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) 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) 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) create_vibrations_profile(gcmd, self._pconfig, st_process)