offload the finish measurement and get sample in a separate thread

shaketune/commands/axes_map_calibration.py

@@ -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(printer.get_reactor())
     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(printer.get_reactor())
     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(printer.get_reactor())
     toolhead.dwell(0.5)
 
     # Re-enable the input shaper if it was active

shaketune/commands/axes_shaper_calibration.py

@@ -110,6 +110,7 @@ def axes_shaper_calibration(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(printer.get_reactor())
         toolhead.dwell(0.5)
         toolhead.wait_moves()
 

shaketune/commands/compare_belts_responses.py

@@ -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(printer.get_reactor())
         toolhead.dwell(0.5)
         toolhead.wait_moves()
 

shaketune/commands/create_vibrations_profile.py

@@ -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(printer.get_reactor())
 
             toolhead.dwell(0.3)
             toolhead.wait_moves()

shaketune/commands/excitate_axis_at_freq.py

@@ -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(printer.get_reactor())
         toolhead.dwell(0.5)
 
         creator = st_process.get_graph_creator()

shaketune/helpers/accelerometer.py

@@ -16,6 +16,7 @@
 import time
 from multiprocessing import Process
 from pathlib import Path
+from threading import Thread
 from typing import List, Tuple, TypedDict
 
 import numpy as np
@@ -140,7 +141,7 @@ 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.'
             )
 
@@ -152,6 +153,7 @@ def __init__(self, klipper_accelerometer):
         self._k_accelerometer = klipper_accelerometer
         self._bg_client = None
         self._measurements_manager: MeasurementsManager = None
+        self._get_samples_thread = None
 
     @staticmethod
     def find_axis_accelerometer(printer, axis: str = 'xy'):
@@ -188,11 +190,42 @@ def stop_recording(self) -> MeasurementsManager:
 
         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
+        # Start a thread to finish the measurements and get the samples without blocking the main
+        # Klipper code. Since these operations are I/O-bound, the GIL should not cause significant
+        # issues and a thread is even recommended over a Process since bg_client may not be pickleable.
+        self._get_samples_thread = Thread(target=self._finish_and_get_samples, args=(bg_client,))
+        self._get_samples_thread.daemon = True
+        self._get_samples_thread.start()
 
-        return m_manager
+        return self._measurements_manager
+
+    def _finish_and_get_samples(self, bg_client):
+        try:
+            bg_client.finish_measurements()
+            samples = bg_client.samples or bg_client.get_samples()
+            self._measurements_manager.append_samples_to_last_measurement(samples)
+        except Exception as e:
+            ConsoleOutput.print(f'Error during accelerometer data retrieval: {e}')
+
+    def wait_for_samples(self, k_reactor, timeout: int = 20):
+        if self._get_samples_thread is None:
+            return  # No samples are being retrieved
+
+        eventtime = k_reactor.monotonic()
+        endtime = eventtime + timeout
+        complete = False
+
+        while eventtime < endtime:
+            eventtime = k_reactor.pause(eventtime + 0.05)
+            if not self._get_samples_thread.is_alive():
+                complete = True
+                break
+
+        if not complete:
+            raise TimeoutError(
+                'Shake&Tune was unable to retrieve accelerometer data in time. '
+                'This might be due to slow hardware or a busy system.'
+            )
+
+        self._get_samples_thread = None