offload the finish measurement and get sample when Klipper is ready

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") 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']
@@ -77,18 +77,21 @@ 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], speed)
     toolhead.dwell(0.5)
     accelerometer.stop_recording()
+    accelerometer.wait_for_samples()
     toolhead.dwell(0.5)
     accelerometer.start_recording(measurements_manager, name='axesmap_Y', 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()
+    accelerometer.wait_for_samples()
     toolhead.dwell(0.5)
     accelerometer.start_recording(measurements_manager, name='axesmap_Z', append_time=True)
     toolhead.dwell(0.5)
     toolhead.move([mid_x + SEGMENT_LENGTH / 2, mid_y + SEGMENT_LENGTH / 2, z_height + SEGMENT_LENGTH, E], speed)
     toolhead.dwell(0.5)
     accelerometer.stop_recording()
+    accelerometer.wait_for_samples()
     toolhead.dwell(0.5)
 
     # Re-enable the input shaper if it was active

shaketune/commands/axes_shaper_calibration.py

@@ -103,13 +103,14 @@ 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.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)
         vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
         accelerometer.stop_recording()
+        accelerometer.wait_for_samples()
         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()
@@ -111,6 +111,7 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
         accelerometer.start_recording(measurements_manager, 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()
+        accelerometer.wait_for_samples()
         toolhead.dwell(0.5)
         toolhead.wait_moves()
 

shaketune/commands/create_vibrations_profile.py

@@ -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):
@@ -135,6 +135,7 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
                 toolhead.move([mid_x + dX, mid_y + dY, z_height, E], curr_speed)
                 toolhead.move([mid_x - dX, mid_y - dY, z_height, E], curr_speed)
             accelerometer.stop_recording()
+            accelerometer.wait_for_samples()
 
             toolhead.dwell(0.3)
             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(k_accelerometer, printer.get_reactor())
         measurements_manager = MeasurementsManager()
 
     ConsoleOutput.print(f'Excitating {axis.upper()} axis at {freq}Hz for {duration} seconds')
@@ -101,6 +101,7 @@ 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()
+        accelerometer.wait_for_samples()
         toolhead.dwell(0.5)
 
         creator = st_process.get_graph_creator()

shaketune/helpers/accelerometer.py

@@ -140,18 +140,21 @@ def wait_for_file_writes(self, k_reactor, timeout: int = 20):
 
         if not complete:
             raise TimeoutError(
-                'Shake&Tune was unable to write the accelerometer data into the archive file. '
+                'Shake&Tune was unable to write the accelerometer data into the .STDATA file. '
                 'This might be due to a slow SD card or a busy or full filesystem.'
             )
 
         self._write_process = None
 
 
 class Accelerometer:
-    def __init__(self, klipper_accelerometer):
+    def __init__(self, klipper_accelerometer, k_reactor):
         self._k_accelerometer = klipper_accelerometer
+        self._k_reactor = k_reactor
         self._bg_client = None
         self._measurements_manager: MeasurementsManager = None
+        self._samples_ready = False
+        self._sample_error = None
 
     @staticmethod
     def find_axis_accelerometer(printer, axis: str = 'xy'):
@@ -186,13 +189,39 @@ def stop_recording(self) -> MeasurementsManager:
             ConsoleOutput.print('Warning: no recording to stop!')
             return None
 
-        bg_client = self._bg_client
-        self._bg_client = None
-        bg_client.finish_measurements()
+        # Register a callback in Klipper's reactor to finish the measurements and get the
+        # samples when Klipper is ready to process them (and without blocking its main thread)
+        self._k_reactor.register_callback(self._finish_and_get_samples)
+
+        return self._measurements_manager
+
+    def _finish_and_get_samples(self, bg_client):
+        try:
+            self._bg_client.finish_measurements()
+            samples = self._bg_client.samples or self._bg_client.get_samples()
+            self._measurements_manager.append_samples_to_last_measurement(samples)
+            self._samples_ready = True
+        except Exception as e:
+            ConsoleOutput.print(f'Error during accelerometer data retrieval: {e}')
+            self._sample_error = e
+        finally:
+            self._bg_client = None
+
+    def wait_for_samples(self, timeout: int = 20):
+        eventtime = self._k_reactor.monotonic()
+        endtime = eventtime + timeout
+
+        while eventtime < endtime:
+            eventtime = self._k_reactor.pause(eventtime + 0.05)
+            if self._samples_ready:
+                break
+            if self._sample_error:
+                raise self._sample_error
 
-        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
+        if not self._samples_ready:
+            raise TimeoutError(
+                'Shake&Tune was unable to retrieve accelerometer data in time. '
+                'This might be due to slow hardware or a busy system.'
+            )
 
-        return m_manager
+        self._samples_ready = False