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refactor module init to better handle Klipper init errors
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@Frix-x
Frix-x committed Jul 13, 2024
1 parent 8cf81bc commit ccd95e2
Showing 1 changed file with 102 additions and 81 deletions.
183 changes: 102 additions & 81 deletions shaketune/shaketune.py
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# loading of the plugin, and the registration of the tuning commands


import importlib
import os
from pathlib import Path

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from .shaketune_config import ShakeTuneConfig
from .shaketune_process import ShakeTuneProcess

IN_DANGER = False
DEFAULT_FOLDER = '~/printer_data/config/ShakeTune_results'
DEFAULT_NUMBER_OF_RESULTS = 3
DEFAULT_KEEP_RAW_CSV = False
DEFAULT_DPI = 150
DEFAULT_TIMEOUT = 300
DEFAULT_SHOW_MACROS = True
ST_COMMANDS = {
'EXCITATE_AXIS_AT_FREQ': (
'Maintain a specified excitation frequency for a period '
'of time to diagnose and locate a source of vibrations'
),
'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': (
'Perform a custom half-axis test to analyze and compare the '
'frequency profiles of individual belts on CoreXY or CoreXZ printers'
),
'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': (
'Run a series of motions to find speed/angle ranges where the printer could be '
'exposed to VFAs to optimize your slicer speed profiles and TMC driver parameters'
),
}


class ShakeTune:
def __init__(self, config) -> None:
self._pconfig = config
self._config = config
self._printer = config.get_printer()
self._printer.register_event_handler('klippy:connect', self._on_klippy_connect)

# Check if Shake&Tune is running in DangerKlipper
self.IN_DANGER = importlib.util.find_spec('extras.danger_options') is not None

# Register the console print output callback to the corresponding Klipper function
gcode = self._printer.lookup_object('gcode')
ConsoleOutput.register_output_callback(gcode.respond_info)

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._initialize_config(config)
self._register_commands()

self.timeout = config.getfloat('timeout', 300, above=0.0)
result_folder = config.get('result_folder', default='~/printer_data/config/ShakeTune_results')
# Initialize the ShakeTune object and its configuration
def _initialize_config(self, config) -> None:
result_folder = config.get('result_folder', default=DEFAULT_FOLDER)
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)
keep_n_results = config.getint('number_of_results_to_keep', default=DEFAULT_NUMBER_OF_RESULTS, minval=0)
keep_csv = config.getboolean('keep_raw_csv', default=DEFAULT_KEEP_RAW_CSV)
dpi = config.getint('dpi', default=DEFAULT_DPI, minval=100, maxval=500)
self._st_config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)

self._config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
ConsoleOutput.register_output_callback(gcode.respond_info)
self.timeout = config.getfloat('timeout', 300, above=0.0)
self._show_macros = config.getboolean('show_macros_in_webui', default=True)

# Register Shake&Tune's measurement commands
# Create the Klipper commands to allow the user to run Shake&Tune's tools
def _register_commands(self) -> None:
gcode = self._printer.lookup_object('gcode')
measurement_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 vibrations'
),
),
(
'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 or CoreXZ 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,
(
'Run a series of motions to find speed/angle ranges where the printer could be '
'exposed to VFAs to optimize your slicer speed profiles and TMC driver parameters'
),
),
('EXCITATE_AXIS_AT_FREQ', self.cmd_EXCITATE_AXIS_AT_FREQ, ST_COMMANDS['EXCITATE_AXIS_AT_FREQ']),
('AXES_MAP_CALIBRATION', self.cmd_AXES_MAP_CALIBRATION, ST_COMMANDS['AXES_MAP_CALIBRATION']),
('COMPARE_BELTS_RESPONSES', self.cmd_COMPARE_BELTS_RESPONSES, ST_COMMANDS['COMPARE_BELTS_RESPONSES']),
('AXES_SHAPER_CALIBRATION', self.cmd_AXES_SHAPER_CALIBRATION, ST_COMMANDS['AXES_SHAPER_CALIBRATION']),
('CREATE_VIBRATIONS_PROFILE', self.cmd_CREATE_VIBRATIONS_PROFILE, ST_COMMANDS['CREATE_VIBRATIONS_PROFILE']),
]
command_descriptions = {name: desc for name, _, desc in measurement_commands}

# Register Shake&Tune's measurement commands using the official Klipper API (gcode.register_command)
# Doing this makes the commands available in Klipper but they are not shown in the web interfaces
# and are only available by typing the full name in the console (like all the other Klipper commands)
for name, command, description in measurement_commands:
gcode.register_command(f'_{name}' if show_macros else name, command, desc=description)
gcode.register_command(f'_{name}' if self._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')
# Then, a hack to inject the macros into Klipper's config system in order to show them in the web
# interfaces. This is not a good way to do it, but it's the only way to do it for now to get
# a good user experience while using Shake&Tune (it's indeed easier to just click a macro button)
if self._show_macros:
configfile = 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)
dummy_macros_cfg = configfile.read_config(filename)
except Exception as err:
raise config.error(f'Cannot load Shake&Tune dummy macro {filename}') from err
raise self._config.error(f'Cannot load Shake&Tune dummy macro {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)
# Replace the dummy description by the one from ST_COMMANDS (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')
description = ST_COMMANDS.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())
if not self._config.fileconfig.has_section(gcode_macro_name.lower()):
self._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)

self._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
self._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())
self._printer.load_object(self._config, gcode_macro_name.lower())

def _on_klippy_connect(self) -> None:
# Check if the resonance_tester object is available in the printer
# configuration as it is required for Shake&Tune to work properly
res_tester = self._printer.lookup_object('resonance_tester', None)
if res_tester is None:
raise self._config.error(
'No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune!'
)

# ------------------------------------------------------------------------------------------
# ------------------------------------------------------------------------------------------
# Following are all the Shake&Tune commands that are registered to the Klipper console
# ------------------------------------------------------------------------------------------
# ------------------------------------------------------------------------------------------

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)
static_freq_graph_creator = StaticGraphCreator(self._st_config)
st_process = ShakeTuneProcess(
self._config,
self._st_config,
self._printer.get_reactor(),
static_freq_graph_creator,
self.timeout,
)
excitate_axis_at_freq(gcmd, self._pconfig, st_process)
excitate_axis_at_freq(gcmd, self._config, 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)
axes_map_graph_creator = AxesMapGraphCreator(self._st_config)
st_process = ShakeTuneProcess(
self._config,
self._st_config,
self._printer.get_reactor(),
axes_map_graph_creator,
self.timeout,
)
axes_map_calibration(gcmd, self._pconfig, st_process)
axes_map_calibration(gcmd, self._config, 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)
belt_graph_creator = BeltsGraphCreator(self._st_config)
st_process = ShakeTuneProcess(
self._config,
self._st_config,
self._printer.get_reactor(),
belt_graph_creator,
self.timeout,
)
compare_belts_responses(gcmd, self._pconfig, st_process)
compare_belts_responses(gcmd, self._config, 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)
shaper_graph_creator = ShaperGraphCreator(self._st_config)
st_process = ShakeTuneProcess(
self._config,
self._st_config,
self._printer.get_reactor(),
shaper_graph_creator,
self.timeout,
)
axes_shaper_calibration(gcmd, self._pconfig, st_process)
axes_shaper_calibration(gcmd, self._config, 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)
vibration_profile_creator = VibrationsGraphCreator(self._st_config)
st_process = ShakeTuneProcess(
self._config,
self._st_config,
self._printer.get_reactor(),
vibration_profile_creator,
self.timeout,
)
create_vibrations_profile(gcmd, self._pconfig, st_process)
create_vibrations_profile(gcmd, self._config, st_process)

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