fixed compatibility with Klipper < v0.12.0-239

shaketune/helpers/resonance_test.py

@@ -22,8 +22,28 @@
 
 from ..helpers.console_output import ConsoleOutput
 
+# Shake&Tune: 3D printer analysis tools
+#
+# Adapted from Klipper's original resonance_tester.py file by Dmitry Butyugin <[email protected]>
+# Copyright (C) 2024 Félix Boisselier <[email protected]> (Frix_x on Discord)
+# Licensed under the GNU General Public License v3.0 (GPL-3.0)
+#
+# File: resonance_test.py
+# Description: Contains functions to test the resonance frequency of the printer and its components
+#              by vibrating the toolhead in specific axis directions. This derive a bit from Klipper's
+#              implementation as there are a couple of changes:
+#                1. Original code doesn't use euclidean distance with projection for the coordinates calculation.
+#                   The new approach implemented here ensures that the vector's total length remains constant (= L),
+#                   regardless of the direction components. It's especially important when the direction vector
+#                   involves combinations of movements along multiple axes like for the diagonal belt tests.
+#                2. Original code doesn't allow Z axis movements that was added in order to test the Z axis resonance
+#                   or CoreXZ belts frequency profiles as well.
+#                3. There is the possibility to do a real static frequency test by specifying a duration and a
+#                   fixed frequency to maintain.
+
 
 # This class is used to generate the base vibration test sequences
+# Note: it's almost untouched from the original Klipper code from Dmitry Butyugin
 class BaseVibrationGenerator:
     def __init__(self, min_freq, max_freq, accel_per_hz, hz_per_sec):
         self.min_freq = min_freq
@@ -66,6 +86,7 @@ def gen_test(self):
 
 
 # This class is a derivative of BaseVibrationGenerator that adds slow sweeping acceleration to the test sequences (new style)
+# Note: it's almost untouched from the original Klipper code from Dmitry Butyugin
 class SweepingVibrationGenerator(BaseVibrationGenerator):
     def __init__(self, min_freq, max_freq, accel_per_hz, hz_per_sec, sweeping_accel=400.0, sweeping_period=1.2):
         super().__init__(min_freq, max_freq, accel_per_hz, hz_per_sec)
@@ -192,10 +213,12 @@ def vibrate_axis(self, axis_direction, min_freq=None, max_freq=None, hz_per_sec=
         s_period = base_s_period
         s_accel = base_s_accel
 
-        if s_period > 0:
-            gen = SweepingVibrationGenerator(final_min_f, final_max_f, final_aph, final_hps, s_accel, s_period)
-        else:
+        if s_period == 0 or self.is_old_klipper:
+            ConsoleOutput.print('Using pulse-only test')
             gen = BaseVibrationGenerator(final_min_f, final_max_f, final_aph, final_hps)
+        else:
+            ConsoleOutput.print('Using pulse test with additional sweeping')
+            gen = SweepingVibrationGenerator(final_min_f, final_max_f, final_aph, final_hps, s_accel, s_period)
 
         test_seq = gen.gen_test()
         self._run_test_sequence(axis_direction, test_seq)
@@ -216,15 +239,19 @@ def _run_test_sequence(self, axis_direction, test_seq):
         X, Y, Z, E = toolhead.get_position()
 
         old_max_accel = toolhead_info['max_accel']
-        old_mcr = toolhead_info.get('minimum_cruise_ratio', 1.0)
 
         # Set velocity limits
         if test_seq:
             max_accel = max(abs(a) for _, a, _ in test_seq)
         else:
             max_accel = old_max_accel  # no moves, just default
 
-        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel:.3f} MINIMUM_CRUISE_RATIO=0')
+        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
+            old_mcr = None
+            gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel}')
 
         # Disable input shaper if present
         input_shaper = self.toolhead.printer.lookup_object('input_shaper', None)
@@ -240,7 +267,7 @@ def _run_test_sequence(self, axis_direction, test_seq):
 
         for next_t, accel, freq in test_seq:
             t_seg = next_t - last_t
-            gcode.run_script_from_command(f'M204 S={abs(accel):.3f}')
+            toolhead.cmd_M204(gcode.create_gcode_command('M204', 'M204', {'S': abs(accel)}))
             v = last_v + accel * t_seg
             abs_v = abs(v)
             if abs_v < 1e-6:
@@ -253,7 +280,8 @@ def _run_test_sequence(self, axis_direction, test_seq):
             dX, dY, dZ = self._project_distance(d, normalized_direction)
             nX, nY, nZ = X + dX, Y + dY, Z + dZ
 
-            toolhead.limit_next_junction_speed(abs_last_v)
+            if not self.is_old_klipper:
+                toolhead.limit_next_junction_speed(abs_last_v)
 
             # If direction changed sign, must pass through zero velocity
             if v * last_v < 0:
@@ -278,13 +306,14 @@ def _run_test_sequence(self, axis_direction, test_seq):
         if last_v != 0.0:
             d_decel = -0.5 * last_v2 / old_max_accel if old_max_accel != 0 else 0
             ddX, ddY, ddZ = self._project_distance(d_decel, normalized_direction)
-            gcode.run_script_from_command(f'M204 S={old_max_accel:.3f}')
+            toolhead.cmd_M204(gcode.create_gcode_command('M204', 'M204', {'S': old_max_accel}))
             toolhead.move([X + ddX, Y + ddY, Z + ddZ, E], abs(last_v))
 
-        # Restore original limits
-        gcode.run_script_from_command(
-            f'SET_VELOCITY_LIMIT ACCEL={old_max_accel:.3f} MINIMUM_CRUISE_RATIO={old_mcr:.3f}'
-        )
+        # 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_max_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
+        else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+            gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_max_accel}')
 
         # Re-enable input shaper if disabled
         if input_shaper is not None: