v4.0.2

.github/workflows/test.yml

@@ -0,0 +1,69 @@
+name: Smoke Tests
+on:
+ workflow_dispatch:
+ push:
+
+jobs:
+ klippy_testing:
+ name: Klippy Tests
+ runs-on: ubuntu-latest
+ strategy:
+ fail-fast: false
+ matrix:
+ klipper_repo:
+ - klipper3d/klipper
+ - DangerKlippers/danger-klipper
+ steps: 
+ - name: Checkout shaketune
+ uses: actions/checkout@v4
+ with:
+ path: shaketune
+ - name: Checkout Klipper
+ uses: actions/checkout@v4
+ with:
+ path: klipper
+ repository: ${{ matrix.klipper_repo }}
+ ref: master
+ - name: Install build dependencies
+ run: |
+ sudo apt-get update
+ sudo apt-get install -y build-essential
+ - name: Build klipper dict
+ run: |
+ pushd klipper
+ cp ../shaketune/ci/smoke-test/klipper-smoketest.kconfig .config
+ make olddefconfig
+ make out/compile_time_request.o
+ popd
+ - name: Setup klippy env
+ run: |
+ python3 -m venv --prompt klippy klippy-env
+ ./klippy-env/bin/python -m pip install -r klipper/scripts/klippy-requirements.txt
+ ./klippy-env/bin/python -m pip install -r shaketune/requirements.txt
+ - name: Install shaketune
+ run: |
+ ln -s $PWD/shaketune/shaketune $PWD/klipper/klippy/extras/shaketune
+ - name: Klipper import test
+ run: |
+ ./klippy-env/bin/python klipper/klippy/klippy.py --import-test
+ - name: Klipper integrated test
+ run: |
+ pushd klipper
+ mkdir ../dicts
+ cp ../klipper/out/klipper.dict ../dicts/linux_basic.dict
+ ../klippy-env/bin/python scripts/test_klippy.py -d ../dicts ../shaketune/ci/smoke-test/klippy-tests/simple.test
+ lint:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v4
+ - uses: actions/setup-python@v5
+ with:
+ cache: 'pip'
+ - name: install ruff
+ run: |
+ pip install ruff
+ - name: run ruff tests
+ run: |
+ ruff check
+
+

ci/smoke-test/klipper-smoketest.kconfig

@@ -0,0 +1,34 @@
+CONFIG_LOW_LEVEL_OPTIONS=y
+# CONFIG_MACH_AVR is not set
+# CONFIG_MACH_ATSAM is not set
+# CONFIG_MACH_ATSAMD is not set
+# CONFIG_MACH_LPC176X is not set
+# CONFIG_MACH_STM32 is not set
+# CONFIG_MACH_HC32F460 is not set
+# CONFIG_MACH_RP2040 is not set
+# CONFIG_MACH_PRU is not set
+# CONFIG_MACH_AR100 is not set
+CONFIG_MACH_LINUX=y
+# CONFIG_MACH_SIMU is not set
+CONFIG_BOARD_DIRECTORY="linux"
+CONFIG_CLOCK_FREQ=50000000
+CONFIG_LINUX_SELECT=y
+CONFIG_USB_VENDOR_ID=0x1d50
+CONFIG_USB_DEVICE_ID=0x614e
+CONFIG_USB_SERIAL_NUMBER="12345"
+CONFIG_WANT_GPIO_BITBANGING=y
+CONFIG_WANT_DISPLAYS=y
+CONFIG_WANT_SENSORS=y
+CONFIG_WANT_LIS2DW=y
+CONFIG_WANT_LDC1612=y
+CONFIG_WANT_SOFTWARE_I2C=y
+CONFIG_WANT_SOFTWARE_SPI=y
+CONFIG_NEED_SENSOR_BULK=y
+CONFIG_CANBUS_FREQUENCY=1000000
+CONFIG_INITIAL_PINS=""
+CONFIG_HAVE_GPIO=y
+CONFIG_HAVE_GPIO_ADC=y
+CONFIG_HAVE_GPIO_SPI=y
+CONFIG_HAVE_GPIO_I2C=y
+CONFIG_HAVE_GPIO_HARD_PWM=y
+CONFIG_INLINE_STEPPER_HACK=y

ci/smoke-test/klippy-tests/simple.cfg

@@ -0,0 +1,9 @@
+[mcu]
+serial: /tmp/klipper_host_mcu
+
+[printer]
+kinematics: none
+max_velocity: 300
+max_accel: 300
+
+[shaketune]

ci/smoke-test/klippy-tests/simple.test

@@ -0,0 +1,4 @@
+DICTIONARY linux_basic.dict
+CONFIG simple.cfg
+
+G4 P1000

pyproject.toml

@@ -1,5 +1,5 @@
 [project]
-name = "Shake&Tune"
+name = "shake_n_tune"
 description = "Klipper streamlined input shaper workflow and calibration tools"
 readme = "README.md"
 requires-python = ">= 3.9"

shaketune/commands/accelerometer.py

@@ -13,10 +13,13 @@
 import time
 from multiprocessing import Process, Queue
 
+FILE_WRITE_TIMEOUT = 10 # seconds
+
 
 class Accelerometer:
- def __init__(self, klipper_accelerometer):
+ def __init__(self, reactor, klipper_accelerometer):
  self._k_accelerometer = klipper_accelerometer
+ self._reactor = reactor
 
  self._bg_client = None
  self._write_queue = Queue()
@@ -70,16 +73,35 @@ def _write_to_file(self, bg_client, filename):
  os.nice(20)
  except Exception:
  pass
+
  with open(filename, 'w') as f:
  f.write('#time,accel_x,accel_y,accel_z\n')
  samples = bg_client.samples or bg_client.get_samples()
  for t, accel_x, accel_y, accel_z in samples:
  f.write(f'{t:.6f},{accel_x:.6f},{accel_y:.6f},{accel_z:.6f}\n')
+
  self._write_queue.get()
 
  def wait_for_file_writes(self):
  while not self._write_queue.empty():
- time.sleep(0.1)
+ eventtime = self._reactor.monotonic()
+ self._reactor.pause(eventtime + 0.1)
+
  for proc in self._write_processes:
- proc.join()
+ if proc is None:
+ continue
+ eventtime = self._reactor.monotonic()
+ endtime = eventtime + FILE_WRITE_TIMEOUT
+ complete = False
+ while eventtime < endtime:
+ eventtime = self._reactor.pause(eventtime + 0.05)
+ if not proc.is_alive():
+ complete = True
+ break
+ if not complete:
+ raise TimeoutError(
+ 'Shake&Tune was not able to write the accelerometer data into the CSV file. '
+ 'This might be due to a slow SD card or a busy or full filesystem.'
+ )
+
  self._write_processes = []

shaketune/commands/axes_map_calibration.py

@@ -37,17 +37,19 @@ 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")!'
  )
- accelerometer = Accelerometer(k_accelerometer)
+ accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
 
  toolhead_info = toolhead.get_status(systime)
  old_accel = toolhead_info['max_accel']
  old_sqv = toolhead_info['square_corner_velocity']
 
  # set the wanted acceleration values
  if 'minimum_cruise_ratio' in toolhead_info:
- old_mcr = toolhead_info['minimum_cruise_ratio'] # minimum_cruise_ratio found: Klipper >= v0.12.0-239
- gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
- else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+ old_mcr = toolhead_info['minimum_cruise_ratio'] # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+ gcode.run_script_from_command(
+ f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0'
+ )
+ else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
  old_mcr = None
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')
 
@@ -93,11 +95,13 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
  input_shaper.enable_shaping()
 
  # Restore the previous acceleration values
- if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
- gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}')
- else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+ if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+ gcode.run_script_from_command(
+ f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
+ )
+ else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
- 
+
  toolhead.wait_moves()
 
  # Run post-processing

shaketune/commands/axes_shaper_calibration.py

@@ -76,10 +76,10 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
  # set the needed acceleration values for the test
  toolhead_info = toolhead.get_status(systime)
  old_accel = toolhead_info['max_accel']
- if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+ if 'minimum_cruise_ratio' in toolhead_info:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
  old_mcr = toolhead_info['minimum_cruise_ratio']
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
- else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+ else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
  old_mcr = None
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
 
@@ -99,7 +99,7 @@ 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.get_reactor(), printer.lookup_object(accel_chip))
 
  # Then do the actual measurements
  accelerometer.start_measurement()
@@ -119,9 +119,9 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
  # Re-enable the input shaper if it was active
  if input_shaper is not None:
  input_shaper.enable_shaping()
- 
+
  # Restore the previous acceleration values
- if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+ if old_mcr is not None:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
- else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+ else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')

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.get_reactor(), printer.lookup_object(accel_chip))
 
  # Move to the starting point
  test_points = res_tester.test.get_start_test_points()
@@ -88,11 +88,11 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
 
  # set the needed acceleration values for the test
  toolhead_info = toolhead.get_status(systime)
- old_accel = toolhead_info['max_accel'] 
- if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+ old_accel = toolhead_info['max_accel']
+ if 'minimum_cruise_ratio' in toolhead_info:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
  old_mcr = toolhead_info['minimum_cruise_ratio']
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} MINIMUM_CRUISE_RATIO=0')
- else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+ else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
  old_mcr = None
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
 
@@ -116,9 +116,9 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
  input_shaper.enable_shaping()
 
  # Restore the previous acceleration values
- if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+ if old_mcr is not None:  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
- else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+ else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel}')
 
  # Run post-processing

shaketune/commands/create_vibrations_profile.py

@@ -62,10 +62,12 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
  old_sqv = toolhead_info['square_corner_velocity']
 
  # set the wanted acceleration values
- if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
- old_mcr = toolhead_info['minimum_cruise_ratio'] 
- gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
- else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+ if 'minimum_cruise_ratio' in toolhead_info: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+ old_mcr = toolhead_info['minimum_cruise_ratio']
+ gcode.run_script_from_command(
+ f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0'
+ )
+ else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
  old_mcr = None
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')
 
@@ -95,7 +97,7 @@ 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(printer.get_reactor(), k_accelerometer)
 
  # Sweep the speed range to record the vibrations at different speeds
  for curr_speed_sample in range(nb_speed_samples):
@@ -138,9 +140,11 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
  accelerometer.wait_for_file_writes()
 
  # Restore the previous acceleration values
- if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
- gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}')
- else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+ if old_mcr is not None: # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+ gcode.run_script_from_command(
+ f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
+ )
+ else: # minimum_cruise_ratio not found: Klipper < v0.12.0-239
  gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
  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(printer.get_reactor(), k_accelerometer)
 
  ConsoleOutput.print(f'Excitating {axis.upper()} axis at {freq}Hz for {duration} seconds')