Static freq optional graphs (#112)

shaketune/post_processing/graph_static.py

@@ -0,0 +1,175 @@
+#!/usr/bin/env python3
+
+import optparse
+import os
+from datetime import datetime
+
+import matplotlib
+import matplotlib.font_manager
+import matplotlib.pyplot as plt
+import matplotlib.ticker
+import numpy as np
+
+matplotlib.use('Agg')
+
+from ..helpers.common_func import (
+    compute_spectrogram,
+    parse_log,
+)
+from ..helpers.console_output import ConsoleOutput
+
+PEAKS_DETECTION_THRESHOLD = 0.05
+PEAKS_EFFECT_THRESHOLD = 0.12
+SPECTROGRAM_LOW_PERCENTILE_FILTER = 5
+MAX_VIBRATIONS = 5.0
+
+KLIPPAIN_COLORS = {
+    'purple': '#70088C',
+    'orange': '#FF8D32',
+    'dark_purple': '#150140',
+    'dark_orange': '#F24130',
+    'red_pink': '#F2055C',
+}
+
+
+######################################################################
+# Graphing
+######################################################################
+
+
+def plot_spectrogram(ax, t, bins, pdata, max_freq):
+    ax.set_title('Time-Frequency Spectrogram', fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
+
+    vmin_value = np.percentile(pdata, SPECTROGRAM_LOW_PERCENTILE_FILTER)
+
+    cm = 'inferno'
+    norm = matplotlib.colors.LogNorm(vmin=vmin_value)
+    ax.imshow(
+        pdata.T,
+        norm=norm,
+        cmap=cm,
+        aspect='auto',
+        extent=[t[0], t[-1], bins[0], bins[-1]],
+        origin='lower',
+        interpolation='antialiased',
+    )
+
+    ax.set_xlim([0.0, max_freq])
+    ax.set_ylabel('Time (s)')
+    ax.set_xlabel('Frequency (Hz)')
+
+    return
+
+
+def plot_energy_accumulation(ax, t, bins, pdata):
+    # Integrate the energy over the frequency bins for each time step and plot this vertically
+    ax.plot(np.trapz(pdata, t, axis=0), bins, color=KLIPPAIN_COLORS['orange'])
+    ax.set_title('Vibrations', fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
+    ax.set_xlabel('Cumulative Energy')
+    ax.set_ylabel('Time (s)')
+    ax.set_ylim([bins[0], bins[-1]])
+
+    ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
+    ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
+    ax.ticklabel_format(axis='x', style='scientific', scilimits=(0, 0))
+    ax.grid(which='major', color='grey')
+    ax.grid(which='minor', color='lightgrey')
+    # ax.legend()
+
+
+######################################################################
+# Startup and main routines
+######################################################################
+
+
+def static_frequency_tool(
+    lognames,
+    klipperdir='~/klipper',
+    freq=None,
+    duration=None,
+    max_freq=500.0,
+    accel_per_hz=None,
+    st_version='unknown',
+):
+    if freq is None or duration is None:
+        raise ValueError('Error: missing frequency or duration parameters!')
+
+    datas = [data for data in (parse_log(fn) for fn in lognames) if data is not None]
+    if len(datas) > 1:
+        ConsoleOutput.print('Warning: incorrect number of .csv files detected. Only the first one will be used!')
+
+    pdata, bins, t = compute_spectrogram(datas[0])
+    del datas
+
+    fig, ((ax1, ax3)) = plt.subplots(
+        1,
+        2,
+        gridspec_kw={
+            'width_ratios': [5, 3],
+            'bottom': 0.080,
+            'top': 0.840,
+            'left': 0.050,
+            'right': 0.985,
+            'hspace': 0.166,
+            'wspace': 0.138,
+        },
+    )
+    fig.set_size_inches(15, 7)
+
+    title_line1 = 'STATIC FREQUENCY HELPER TOOL'
+    fig.text(
+        0.060, 0.947, title_line1, ha='left', va='bottom', fontsize=20, color=KLIPPAIN_COLORS['purple'], weight='bold'
+    )
+    try:
+        filename_parts = (lognames[0].split('/')[-1]).split('_')
+        dt = datetime.strptime(f'{filename_parts[1]} {filename_parts[2]}', '%Y%m%d %H%M%S')
+        title_line2 = dt.strftime('%x %X') + ' -- ' + filename_parts[3].upper().split('.')[0] + ' axis'
+        title_line3 = f'| Maintained frequency: {freq}Hz for {duration}s'
+        title_line4 = f'| Accel per Hz used: {accel_per_hz} mm/s²/Hz' if accel_per_hz is not None else ''
+    except Exception:
+        ConsoleOutput.print('Warning: CSV filename look to be different than expected (%s)' % (lognames[0]))
+        title_line2 = lognames[0].split('/')[-1]
+        title_line3 = ''
+        title_line4 = ''
+    fig.text(0.060, 0.939, title_line2, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
+    fig.text(0.55, 0.985, title_line3, ha='left', va='top', fontsize=14, color=KLIPPAIN_COLORS['dark_purple'])
+    fig.text(0.55, 0.950, title_line4, ha='left', va='top', fontsize=11, color=KLIPPAIN_COLORS['dark_purple'])
+
+    plot_spectrogram(ax1, t, bins, pdata, max_freq)
+    plot_energy_accumulation(ax3, t, bins, pdata)
+
+    ax_logo = fig.add_axes([0.001, 0.894, 0.105, 0.105], anchor='NW')
+    ax_logo.imshow(plt.imread(os.path.join(os.path.dirname(os.path.abspath(__file__)), 'klippain.png')))
+    ax_logo.axis('off')
+
+    if st_version != 'unknown':
+        fig.text(0.995, 0.980, st_version, ha='right', va='bottom', fontsize=8, color=KLIPPAIN_COLORS['purple'])
+
+    return fig
+
+
+def main():
+    usage = '%prog [options] <logs>'
+    opts = optparse.OptionParser(usage)
+    opts.add_option('-o', '--output', type='string', dest='output', default=None, help='filename of output graph')
+    opts.add_option('-f', '--freq', type='float', default=None, help='frequency maintained during the measurement')
+    opts.add_option('-d', '--duration', type='float', default=None, help='duration of the measurement')
+    opts.add_option('--max_freq', type='float', default=500.0, help='maximum frequency to graph')
+    opts.add_option('--accel_per_hz', type='float', default=None, help='accel_per_hz used during the measurement')
+    opts.add_option(
+        '-k', '--klipper_dir', type='string', dest='klipperdir', default='~/klipper', help='main klipper directory'
+    )
+    options, args = opts.parse_args()
+    if len(args) < 1:
+        opts.error('Incorrect number of arguments')
+    if options.output is None:
+        opts.error('You must specify an output file.png to use the script (option -o)')
+
+    fig = static_frequency_tool(
+        args, options.klipperdir, options.freq, options.duration, options.max_freq, options.accel_per_hz, 'unknown'
+    )
+    fig.savefig(options.output, dpi=150)
+
+
+if __name__ == '__main__':
+    main()