adxl345: Renamed decode_samples and fixed/added checks on empty data

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

3 files changed, 37 insertions, 8 deletions

diff --git a/klippy/extras/adxl345.py b/klippy/extras/adxl345.py
index e331e33d..ad973698 100644
--- a/klippy/extras/adxl345.py
+++ b/klippy/extras/adxl345.py
@@ -36,14 +36,37 @@ class ADXL345QueryHelper:
         self.cconn = cconn
         print_time = printer.lookup_object('toolhead').get_last_move_time()
         self.request_start_time = self.request_end_time = print_time
-        self.samples = []
+        self.samples = self.raw_samples = []
     def finish_measurements(self):
         toolhead = self.printer.lookup_object('toolhead')
         self.request_end_time = toolhead.get_last_move_time()
         toolhead.wait_moves()
         self.cconn.finalize()
-    def decode_samples(self):
+    def _get_raw_samples(self):
         raw_samples = self.cconn.get_messages()
+        if raw_samples:
+            self.raw_samples = raw_samples
+        return self.raw_samples
+    def has_valid_samples(self):
+        raw_samples = self._get_raw_samples()
+        for msg in raw_samples:
+            data = msg['params']['data']
+            first_sample_time = data[0][0]
+            last_sample_time = data[-1][0]
+            if (first_sample_time > self.request_end_time
+                    or last_sample_time < self.request_start_time):
+                continue
+            # The time intervals [first_sample_time, last_sample_time]
+            # and [request_start_time, request_end_time] have non-zero
+            # intersection. It is still theoretically possible that none
+            # of the samples from raw_samples fall into the time interval
+            # [request_start_time, request_end_time] if it is too narrow
+            # or on very heavy data losses. In practice, that interval
+            # is at least 1 second, so this possibility is negligible.
+            return True
+        return False
+    def get_samples(self):
+        raw_samples = self._get_raw_samples()
         if not raw_samples:
             return self.samples
         total = sum([len(m['params']['data']) for m in raw_samples])
@@ -68,7 +91,7 @@ class ADXL345QueryHelper:
                 pass
             f = open(filename, "w")
             f.write("#time,accel_x,accel_y,accel_z\n")
-            samples = self.samples or self.decode_samples()
+            samples = self.samples or self.get_samples()
             for t, accel_x, accel_y, accel_z in samples:
                 f.write("%.6f,%.6f,%.6f,%.6f\n" % (
                     t, accel_x, accel_y, accel_z))
@@ -129,7 +152,7 @@ class ADXLCommandHelper:
         aclient = self.chip.start_internal_client()
         self.printer.lookup_object('toolhead').dwell(1.)
         aclient.finish_measurements()
-        values = aclient.decode_samples()
+        values = aclient.get_samples()
         if not values:
             raise gcmd.error("No adxl345 measurements found")
         _, accel_x, accel_y, accel_z = values[-1]
diff --git a/klippy/extras/resonance_tester.py b/klippy/extras/resonance_tester.py
index f66e229c..00797156 100644
--- a/klippy/extras/resonance_tester.py
+++ b/klippy/extras/resonance_tester.py
@@ -183,12 +183,12 @@ class ResonanceTester:
                                 "%s file" % (raw_name,))
                 if helper is None:
                     continue
-                for chip_axis, chip_values in raw_values:
-                    if not chip_values:
+                for chip_axis, aclient in raw_values:
+                    if not aclient.has_valid_samples():
                         raise gcmd.error(
                                 "%s-axis accelerometer measured no data" % (
                                     chip_axis,))
-                    new_data = helper.process_accelerometer_data(chip_values)
+                    new_data = helper.process_accelerometer_data(aclient)
                     if calibration_data[axis] is None:
                         calibration_data[axis] = new_data
                     else:
@@ -285,6 +285,9 @@ class ResonanceTester:
             aclient.finish_measurements()
         helper = shaper_calibrate.ShaperCalibrate(self.printer)
         for chip_axis, aclient in raw_values:
+            if not aclient.has_valid_samples():
+                raise gcmd.error(
+                        "%s-axis accelerometer measured no data" % (chip_axis,))
             data = helper.process_accelerometer_data(aclient)
             vx = data.psd_x.mean()
             vy = data.psd_y.mean()
diff --git a/klippy/extras/shaper_calibrate.py b/klippy/extras/shaper_calibrate.py
index 3c6065de..cc0f0593 100644
--- a/klippy/extras/shaper_calibrate.py
+++ b/klippy/extras/shaper_calibrate.py
@@ -264,7 +264,10 @@ class ShaperCalibrate:
         if isinstance(raw_values, np.ndarray):
             data = raw_values
         else:
-            data = np.array(raw_values.decode_samples())
+            samples = raw_values.get_samples()
+            if not samples:
+                return None
+            data = np.array(samples)
 
         N = data.shape[0]
         T = data[-1,0] - data[0,0]