offload accelerometer finish in its own process

shaketune/commands/axes_map_calibration.py

@@ -9,7 +9,7 @@
 #              and performs post-processing to analyze the collected data.
 
 
-from ..helpers.accelerometer import Accelerometer, MeasurementsManager
+from ..helpers.accelerometer import Accelerometer
 from ..helpers.console_output import ConsoleOutput
 from ..shaketune_process import ShakeTuneProcess
 
@@ -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") to be able to use this macro!'
         )
-    accelerometer = Accelerometer(k_accelerometer)
+    accelerometer = Accelerometer(k_accelerometer, printer.get_reactor())
 
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
@@ -69,14 +69,12 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     toolhead.move([mid_x - SEGMENT_LENGTH / 2, mid_y - SEGMENT_LENGTH / 2, z_height, E], feedrate_travel)
     toolhead.dwell(0.5)
 
-    measurements_manager = MeasurementsManager()
-
     # Start the measurements and do the movements (+X, +Y and then +Z)
-    accelerometer.start_recording(measurements_manager, name='axesmap_X', append_time=True)
+    accelerometer.start_recording(None, name='axesmap_X', append_time=True)
     toolhead.dwell(0.5)
     toolhead.move([mid_x + SEGMENT_LENGTH / 2, mid_y - SEGMENT_LENGTH / 2, z_height, E], speed)
     toolhead.dwell(0.5)
-    accelerometer.stop_recording()
+    measurements_manager = accelerometer.stop_recording()
     toolhead.dwell(0.5)
     accelerometer.start_recording(measurements_manager, name='axesmap_Y', append_time=True)
     toolhead.dwell(0.5)

shaketune/commands/axes_shaper_calibration.py

@@ -9,7 +9,7 @@
 #              and generates graphs for each axis to analyze the collected data.
 
 
-from ..helpers.accelerometer import Accelerometer, MeasurementsManager
+from ..helpers.accelerometer import Accelerometer
 from ..helpers.common_func import AXIS_CONFIG
 from ..helpers.console_output import ConsoleOutput
 from ..helpers.resonance_test import vibrate_axis
@@ -90,26 +90,22 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     else:
         input_shaper = None
 
-    measurements_manager = MeasurementsManager()
-
     # Filter axis configurations based on user input, assuming 'axis_input' can be 'x', 'y', 'all' (that means 'x' and 'y')
     filtered_config = [
         a for a in AXIS_CONFIG if a['axis'] == axis_input or (axis_input == 'all' and a['axis'] in ('x', 'y'))
     ]
     for config in filtered_config:
-        measurements_manager.clear_measurements()  # Clear the measurements in each iteration of the loop
-
         # First we need to find the accelerometer chip suited for the axis
         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.lookup_object(accel_chip), printer.get_reactor())
 
         # Then do the actual measurements
         ConsoleOutput.print(f'Measuring {config["label"]}...')
-        accelerometer.start_recording(measurements_manager, name=config['label'], append_time=True)
+        accelerometer.start_recording(None, name=config['label'], append_time=True)
         vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
-        accelerometer.stop_recording()
+        measurements_manager = accelerometer.stop_recording()
         toolhead.dwell(0.5)
         toolhead.wait_moves()
 

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.lookup_object(accel_chip), printer.get_reactor())
 
     # Move to the starting point
     test_points = res_tester.test.get_start_test_points()
@@ -103,7 +103,7 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
     else:
         input_shaper = None
 
-    measurements_manager = MeasurementsManager()
+    measurements_manager = MeasurementsManager(printer.get_reactor())
 
     # Run the test for each axis
     for config in filtered_config:

shaketune/commands/create_vibrations_profile.py

@@ -81,7 +81,7 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
     toolhead.move([mid_x - 15, mid_y - 15, z_height, E], feedrate_travel)
     toolhead.dwell(0.5)
 
-    measurements_manager = MeasurementsManager()
+    measurements_manager = MeasurementsManager(printer.get_reactor())
 
     nb_speed_samples = int((max_speed - MIN_SPEED) / speed_increment + 1)
     for curr_angle in main_angles:
@@ -99,7 +99,7 @@ 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(k_accelerometer, printer.get_reactor())
 
         # Sweep the speed range to record the vibrations at different speeds
         for curr_speed_sample in range(nb_speed_samples):

shaketune/commands/excitate_axis_at_freq.py

@@ -8,7 +8,7 @@
 #              and optionally creates a graph of the vibration data collected by the accelerometer.
 
 
-from ..helpers.accelerometer import Accelerometer, MeasurementsManager
+from ..helpers.accelerometer import Accelerometer
 from ..helpers.common_func import AXIS_CONFIG
 from ..helpers.console_output import ConsoleOutput
 from ..helpers.resonance_test import vibrate_axis_at_static_freq
@@ -41,8 +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)
-        measurements_manager = MeasurementsManager()
+        accelerometer = Accelerometer(k_accelerometer, printer.get_reactor())
 
     ConsoleOutput.print(f'Excitating {axis.upper()} axis at {freq}Hz for {duration} seconds')
 
@@ -88,7 +87,7 @@ def excitate_axis_at_freq(gcmd, config, st_process: ShakeTuneProcess) -> None:
 
     # If the user want to create a graph, we start accelerometer recording
     if create_graph:
-        accelerometer.start_recording(measurements_manager, name=f'staticfreq_{axis.upper()}', append_time=True)
+        accelerometer.start_recording(None, name=f'staticfreq_{axis.upper()}', append_time=True)
 
     toolhead.dwell(0.5)
     vibrate_axis_at_static_freq(toolhead, gcode, axis_config['direction'], freq, duration, accel_per_hz)
@@ -100,7 +99,7 @@ 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_recording()
+        measurements_manager = accelerometer.stop_recording()
         toolhead.dwell(0.5)
 
         creator = st_process.get_graph_creator()

shaketune/helpers/accelerometer.py

@@ -33,7 +33,8 @@ class Measurement(TypedDict):
 
 
 class MeasurementsManager:
-    def __init__(self):
+    def __init__(self, klipper_reactor):
+        self._reactor = klipper_reactor
         self.measurements: List[Measurement] = []
         self._write_process = None
 
@@ -124,16 +125,16 @@ def load_from_csvs(self, klipper_CSVs: List[Path]) -> List[Measurement]:
 
         return self.measurements
 
-    def wait_for_file_writes(self, k_reactor, timeout: int = 20):
+    def wait_for_file_writes(self, timeout: int = 20):
         if self._write_process is None:
             return  # No file write is pending
 
-        eventtime = k_reactor.monotonic()
+        eventtime = self._reactor.monotonic()
         endtime = eventtime + timeout
         complete = False
 
         while eventtime < endtime:
-            eventtime = k_reactor.pause(eventtime + 0.05)
+            eventtime = self._reactor.pause(eventtime + 0.05)
             if not self._write_process.is_alive():
                 complete = True
                 break
@@ -148,8 +149,9 @@ def wait_for_file_writes(self, k_reactor, timeout: int = 20):
 
 
 class Accelerometer:
-    def __init__(self, klipper_accelerometer):
+    def __init__(self, klipper_accelerometer, klipper_reactor):
         self._k_accelerometer = klipper_accelerometer
+        self._reactor = klipper_reactor
         self._bg_client = None
         self._measurements_manager: MeasurementsManager = None
 
@@ -163,7 +165,12 @@ def find_axis_accelerometer(printer, axis: str = 'xy'):
                 return chip_name
         return None
 
-    def start_recording(self, measurements_manager: MeasurementsManager, name: str = None, append_time: bool = True):
+    def start_recording(
+        self, measurements_manager: MeasurementsManager = None, name: str = None, append_time: bool = True
+    ):
+        if measurements_manager is None:
+            measurements_manager = MeasurementsManager(self._reactor)
+
         if self._bg_client is None:
             self._bg_client = self._k_accelerometer.start_internal_client()
 
@@ -181,18 +188,39 @@ def start_recording(self, measurements_manager: MeasurementsManager, name: str =
         else:
             raise ValueError('Recording already started!')
 
-    def stop_recording(self) -> MeasurementsManager:
+    def stop_recording(self, timeout: int = 20) -> MeasurementsManager:
         if self._bg_client is None:
             ConsoleOutput.print('Warning: no recording to stop!')
             return None
 
+        # Move sample retrieval and processing to a sub-process to reduce Klipper's main process load
+        offload_process = Process(target=self._retrieve_and_process_samples)
+        offload_process.start()
+
+        eventtime = self._reactor.monotonic()
+        endtime = eventtime + timeout
+        complete = False
+        while eventtime < endtime:
+            eventtime = self._reactor.pause(eventtime + 0.05)
+            if not offload_process.is_alive():
+                complete = True
+                break
+
+        if not complete:
+            raise TimeoutError(
+                'Shake&Tune was unable to retrieve the accelerometer '
+                'data and process it within the specified timeout!'
+            )
+
+        m_manager = self._measurements_manager
+        self._measurements_manager = None
+
+        return m_manager
+
+    def _retrieve_and_process_samples(self):
         bg_client = self._bg_client
         self._bg_client = None
         bg_client.finish_measurements()
 
         samples = bg_client.samples or bg_client.get_samples()
         self._measurements_manager.append_samples_to_last_measurement(samples)
-        m_manager = self._measurements_manager
-        self._measurements_manager = None
-
-        return m_manager