feat: Run ShakeTune as an in-process Klipper module

K-ShakeTune/K-SnT_axes_map.cfg

@@ -52,7 +52,7 @@ gcode:
  ACCELEROMETER_MEASURE CHIP={accel_chip} NAME=axemap
 
  RESPOND MSG="Analysis of the movements..."
- RUN_SHELL_COMMAND CMD=shaketune PARAMS="--type axesmap --accel {accel|int} --chip_name {accel_chip}"
+ SHAKETUNE_POSTPROCESS PARAMS="--type axesmap --accel {accel|int} --chip_name {accel_chip}"
 
  # Restore the previous acceleration values
  SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_cruise_ratio} SQUARE_CORNER_VELOCITY={old_sqv}

K-ShakeTune/K-SnT_axis.cfg

@@ -41,7 +41,7 @@ gcode:
 
  RESPOND MSG="X axis frequency profile generation..."
  RESPOND MSG="This may take some time (1-3min)"
- RUN_SHELL_COMMAND CMD=shaketune PARAMS="--type shaper --scv {scv} {% if max_sm is not none %}--max_smoothing {max_sm}{% endif %} {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"
+ SHAKETUNE_POSTPROCESS PARAMS="--type shaper --scv {scv} {% if max_sm is not none %}--max_smoothing {max_sm}{% endif %} {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"
  {% endif %}
 
  {% if Y %}
@@ -50,5 +50,5 @@ gcode:
 
  RESPOND MSG="Y axis frequency profile generation..."
  RESPOND MSG="This may take some time (1-3min)"
- RUN_SHELL_COMMAND CMD=shaketune PARAMS="--type shaper --scv {scv} {% if max_sm is not none %}--max_smoothing {max_sm}{% endif %} {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"
+ SHAKETUNE_POSTPROCESS PARAMS="--type shaper --scv {scv} {% if max_sm is not none %}--max_smoothing {max_sm}{% endif %} {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"
  {% endif %}

K-ShakeTune/K-SnT_belts.cfg

@@ -20,4 +20,4 @@ gcode:
 
  RESPOND MSG="Belts comparative frequency profile generation..."
  RESPOND MSG="This may take some time (3-5min)"
- RUN_SHELL_COMMAND CMD=shaketune PARAMS="--type belts {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"
+ SHAKETUNE_POSTPROCESS PARAMS="--type belts {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"

K-ShakeTune/K-SnT_vibrations.cfg

@@ -209,6 +209,6 @@ gcode:
 
  RESPOND MSG="Machine vibrations profile generation..."
  RESPOND MSG="This may take some time (3-5min)"
- RUN_SHELL_COMMAND CMD=shaketune PARAMS="--type vibrations --accel {accel|int} --kinematics {kinematics} {% if metadata %}--metadata {metadata}{% endif %} --chip_name {accel_chip} {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"
+ SHAKETUNE_POSTPROCESS PARAMS="--type vibrations --accel {accel|int} --kinematics {kinematics} {% if metadata %}--metadata {metadata}{% endif %} --chip_name {accel_chip} {% if keep_csv %}--keep_csv{% endif %} --keep_results {keep_results}"
 
  RESTORE_GCODE_STATE NAME=CREATE_VIBRATIONS_PROFILE

README.md

@@ -17,9 +17,6 @@ Check out the **[detailed documentation of the Shake&Tune module here](./docs/RE
 |:----------------:|:------------:|:---------------------:|
 | [<img src="./docs/images/belts_example.png">](./docs/macros/belts_tuning.md) | [<img src="./docs/images/axis_example.png">](./docs/macros/axis_tuning.md) | [<img src="./docs/images/vibrations_example.png">](./docs/macros/vibrations_profile.md) |
 
- > **Note**:
- >
- > Be aware that Shake&Tune uses the [Gcode shell command plugin](https://github.com/dw-0/kiauh/blob/master/docs/gcode_shell_command.md) under the hood to call the Python scripts that generate the graphs. While my scripts should be safe, the Gcode shell command plugin also has great potential for abuse if not used carefully for other purposes, since it opens shell access from Klipper.
 
 ## Installation
 

install.sh

@@ -5,7 +5,6 @@ MOONRAKER_CONFIG="${HOME}/printer_data/config/moonraker.conf"
 KLIPPER_PATH="${HOME}/klipper"
 
 K_SHAKETUNE_PATH="${HOME}/klippain_shaketune"
-K_SHAKETUNE_VENV_PATH="${HOME}/klippain_shaketune-env"
 
 set -eu
 export LC_ALL=C
@@ -39,7 +38,7 @@ function is_package_installed {
 }
 
 function install_package_requirements {
- packages=("python3-venv" "libopenblas-dev" "libatlas-base-dev")
+ packages=("libopenblas-dev" "libatlas-base-dev")
  packages_to_install=""
 
  for package in "${packages[@]}"; do
@@ -75,39 +74,24 @@ function check_download {
  fi
 }
 
-function setup_venv {
- if [ ! -d "${K_SHAKETUNE_VENV_PATH}" ]; then
- echo "[SETUP] Creating Python virtual environment..."
- python3 -m venv "${K_SHAKETUNE_VENV_PATH}"
- else
- echo "[SETUP] Virtual environment already exists. Continuing..."
- fi
-
- source "${K_SHAKETUNE_VENV_PATH}/bin/activate"
- echo "[SETUP] Installing/Updating K-Shake&Tune dependencies..."
- pip install --upgrade pip
- pip install -r "${K_SHAKETUNE_PATH}/requirements.txt"
- deactivate
- printf "\n"
-}
-
 function link_extension {
  echo "[INSTALL] Linking scripts to your config directory..."
 
  if [ -d "${HOME}/klippain_config" ] && [ -f "${USER_CONFIG_PATH}/.VERSION" ]; then
  echo "[INSTALL] Klippain full installation found! Linking module to the script folder of Klippain"
  ln -frsn ${K_SHAKETUNE_PATH}/K-ShakeTune ${USER_CONFIG_PATH}/scripts/K-ShakeTune
  else
+ echo "[INSTALL] Klippain not found! Linking module to the config folder of Klipper"
  ln -frsn ${K_SHAKETUNE_PATH}/K-ShakeTune ${USER_CONFIG_PATH}/K-ShakeTune
  fi
 }
 
-function link_gcodeshellcommandpy {
- if [ ! -f "${KLIPPER_PATH}/klippy/extras/gcode_shell_command.py" ]; then
- echo "[INSTALL] Downloading gcode_shell_command.py Klipper extension needed for this module"
- wget -P ${KLIPPER_PATH}/klippy/extras https://raw.githubusercontent.com/Frix-x/klippain/main/scripts/gcode_shell_command.py
+function link_module {
+ if [ ! -d "${KLIPPER_PATH}/klippy/extras/shaketune" ]; then
+ echo "[INSTALL] Linking Shake&Tune module to Klipper extras"
+ ln -frsn ${K_SHAKETUNE_PATH}/src ${KLIPPER_PATH}/klippy/extras/shaketune
  else
- printf "[INSTALL] gcode_shell_command.py Klipper extension is already installed. Continuing...\n\n"
+ printf "[INSTALL] Klippain Shake&Tune Klipper module is already installed. Continuing...\n\n"
  fi
 }
 
@@ -138,9 +122,8 @@ printf "=============================================\n\n"
 # Run steps
 preflight_checks
 check_download
-setup_venv
 link_extension
+link_module
 add_updater
-link_gcodeshellcommandpy
 restart_klipper
 restart_moonraker

src/is_workflow.py → shaketune/__init__.py

@@ -5,29 +5,30 @@
 ############################################
 # Written by Frix_x#0161 #
 
-# This script is designed to be used with gcode_shell_commands directly from Klipper
+# This script is designed to be run from inside Klipper Console
 # Use the provided Shake&Tune macros instead!
 
 
 import abc
 import argparse
+import os
 import shutil
 import tarfile
+import threading
 import traceback
 from datetime import datetime
 from pathlib import Path
-from typing import Callable, Optional
+from typing import Callable, List, Optional
 
-from git import GitCommandError, Repo
 from matplotlib.figure import Figure
 
-import src.helpers.filemanager as fm
-from src.graph_creators.analyze_axesmap import axesmap_calibration
-from src.graph_creators.graph_belts import belts_calibration
-from src.graph_creators.graph_shaper import shaper_calibration
-from src.graph_creators.graph_vibrations import vibrations_profile
-from src.helpers.locale_utils import print_with_c_locale
-from src.helpers.motorlogparser import MotorLogParser
+from .graph_creators.analyze_axesmap import axesmap_calibration
+from .graph_creators.graph_belts import belts_calibration
+from .graph_creators.graph_shaper import shaper_calibration
+from .graph_creators.graph_vibrations import vibrations_profile
+from .helpers import filemanager as fm
+from .helpers.locale_utils import print_with_c_locale, set_shaketune_output_func
+from .helpers.motorlogparser import MotorLogParser
 
 
 class Config:
@@ -43,6 +44,8 @@ def get_results_folder(type: str) -> Path:
  @staticmethod
  def get_git_version() -> str:
  try:
+ from git import GitCommandError, Repo
+
  # Get the absolute path of the script, resolving any symlinks
  # Then get 1 times to parent dir to be at the git root folder
  script_path = Path(__file__).resolve()
@@ -58,7 +61,7 @@ def get_git_version() -> str:
  return 'unknown'
 
  @staticmethod
- def parse_arguments() -> argparse.Namespace:
+ def parse_arguments(params: Optional[List] = None) -> argparse.Namespace:
  parser = argparse.ArgumentParser(description='Shake&Tune graphs generation script')
  parser.add_argument(
  '-t',
@@ -131,7 +134,7 @@ def parse_arguments() -> argparse.Namespace:
  parser.add_argument('--dpi', type=int, default=150, dest='dpi', help='DPI of the output PNG files')
  parser.add_argument('-v', '--version', action='version', version=f'Shake&Tune {Config.get_git_version()}')
 
- return parser.parse_args()
+ return parser.parse_args(params)
 
 
 class GraphCreator(abc.ABC):
@@ -341,16 +344,21 @@ def clean_old_files(self, keep_results: int = 3) -> None:
  tar_file.unlink(missing_ok=True)
 
 
-class AxesMapFinder:
- def __init__(self, accel: float, chip_name: str):
- self._accel = accel
- self._chip_name = chip_name
+class AxesMapFinder(GraphCreator):
+ def __init__(self, keep_csv: bool = False, dpi: int = 150):
+ super().__init__(keep_csv, dpi)
 
  self._graph_date = datetime.now().strftime('%Y%m%d_%H%M%S')
-
  self._type = 'axesmap'
  self._folder = Config.RESULTS_BASE_FOLDER
 
+ self._accel = None
+ self._chip_name = None
+
+ def configure(self, accel: int, chip_name: str) -> None:
+ self._accel = accel
+ self._chip_name = chip_name
+
  def find_axesmap(self) -> None:
  tmp_folder = Path('/tmp')
  globbed_files = list(tmp_folder.glob(f'{self._chip_name}-*.csv'))
@@ -371,9 +379,16 @@ def find_axesmap(self) -> None:
  with result_filename.open('w') as f:
  f.write(results)
 
+ print_with_c_locale(f'Detected axes_map: {results}')
 
-def main():
- options = Config.parse_arguments()
+ def create_graph(self) -> None:
+ self.find_axesmap()
+
+ def clean_old_files(self, keep_results: int) -> None:
+ pass
+
+
+def create_graph(options: argparse.Namespace) -> None:
  fm.ensure_folders_exist(
  folders=[Config.RESULTS_BASE_FOLDER / subfolder for subfolder in Config.RESULTS_SUBFOLDERS.values()]
  )
@@ -387,7 +402,7 @@ def main():
  VibrationsGraphCreator,
  lambda gc: gc.configure(options.kinematics, options.accel_used, options.chip_name, options.metadata),
  ),
- 'axesmap': (AxesMapFinder, None),
+ 'axesmap': (AxesMapFinder, lambda gc: gc.configure(options.accel_used, options.chip_name)),
  }
 
  creator_info = graph_creators.get(options.type)
@@ -422,5 +437,36 @@ def main():
  print_with_c_locale(f'Cleaned output folder to keep only the last {options.keep_results} results!')
 
 
-if __name__ == '__main__':
- main()
+class ShakeTune:
+ def __init__(self, config) -> None:
+ self._printer = config.get_printer()
+ self._gcode = self._printer.lookup_object('gcode')
+ self.timeout = config.getfloat('timeout', 2.0, above=0.0)
+
+ self._gcode.register_command(
+ 'SHAKETUNE_POSTPROCESS',
+ self.cmd_SHAKETUNE_POSTPROCESS,
+ desc='PostProcess ShakeTune data for graph creation',
+ )
+
+ def shaketune_thread(self, options):
+ set_shaketune_output_func(self._gcode.respond_info)
+ os.nice(20)
+ create_graph(options)
+
+ def cmd_SHAKETUNE_POSTPROCESS(self, gcmd) -> None:
+ options = Config.parse_arguments(gcmd.get('PARAMS').split())
+ t = threading.Thread(target=self.shaketune_thread, args=(options,))
+ t.start()
+
+ reactor = self._printer.get_reactor()
+ event_time = reactor.monotonic()
+ end_time = event_time + self.timeout
+ while event_time < end_time:
+ event_time = reactor.pause(event_time + 0.05)
+ if not t.is_alive():
+ break
+
+
+def load_config(config) -> ShakeTune:
+ return ShakeTune(config)

shaketune/__main__.py

@@ -0,0 +1,10 @@
+from . import Config, create_graph
+
+
+def main() -> None:
+ options = Config.parse_arguments()
+ create_graph(options)
+
+
+if __name__ == '__main__':
+ main()

src/helpers/common_func.py → shaketune/helpers/common_func.py

@@ -10,7 +10,6 @@
 from pathlib import Path
 
 import numpy as np
-from git import GitCommandError, Repo
 from scipy.signal import spectrogram
 
 
@@ -69,6 +68,7 @@ def get_git_version():
  try:
  # Get the absolute path of the script, resolving any symlinks
  # Then get 2 times to parent dir to be at the git root folder
+ from git import GitCommandError, Repo
  script_path = Path(__file__).resolve()
  repo_path = script_path.parents[1]
  repo = Repo(repo_path)

src/helpers/locale_utils.py → shaketune/helpers/locale_utils.py

@@ -4,7 +4,16 @@
 # Written by Frix_x#0161 #
 
 
+import io
 import locale
+from typing import Callable, Optional
+
+KLIPPER_CONSOLE_OUTPUT_FUNC: Optional[Callable[[str], None]] = None
+
+
+def set_shaketune_output_func(func: Callable[[str], None]):
+ global KLIPPER_CONSOLE_OUTPUT_FUNC
+ KLIPPER_CONSOLE_OUTPUT_FUNC = func
 
 
 # Set the best locale for time and date formating (generation of the titles)
@@ -27,7 +36,12 @@ def print_with_c_locale(*args, **kwargs):
  'Warning: Failed to set a basic locale. Special characters may not display correctly in Klipper console:', e
  )
  finally:
- print(*args, **kwargs) # Proceed with printing regardless of locale setting success
+ if not KLIPPER_CONSOLE_OUTPUT_FUNC:
+ print(*args, **kwargs) # Proceed with printing regardless of locale setting success
+ else:
+ with io.StringIO() as mem_output:
+ print(*args, file=mem_output, **kwargs)
+ KLIPPER_CONSOLE_OUTPUT_FUNC(mem_output.getvalue())
  try:
  locale.setlocale(locale.LC_ALL, original_locale)
  except locale.Error as e: