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smoothing vs accel plot added

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This commit is contained in:
Félix Boisselier
2024-07-15 18:04:49 +02:00
parent ccd95e27e1
commit e364b9079e
1 changed files with 221 additions and 60 deletions
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279
shaketune/graph_creators/shaper_graph_creator.py
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@@ -22,7 +22,7 @@
import optparse
import os
from datetime import datetime
from typing import List, Optional
from typing import Dict, List, Optional
import matplotlib
import matplotlib.font_manager
@@ -47,7 +47,8 @@ PEAKS_DETECTION_THRESHOLD = 0.05
PEAKS_EFFECT_THRESHOLD = 0.12
SPECTROGRAM_LOW_PERCENTILE_FILTER = 5
MAX_VIBRATIONS = 5.0
SMOOTHING_LIST = [0.1]
# SMOOTHING_LIST = np.arange(0.001, 0.80, 0.05)
KLIPPAIN_COLORS = {
'purple': '#70088C',
'orange': '#FF8D32',
@@ -112,15 +113,13 @@ def calibrate_shaper(datas: List[np.ndarray], max_smoothing: Optional[float], sc
calibration_data = helper.process_accelerometer_data(datas)
calibration_data.normalize_to_frequencies()
# We compute the damping ratio using the Klipper's default value if it fails
fr, zeta, _, _ = compute_mechanical_parameters(calibration_data.psd_sum, calibration_data.freq_bins)
# If the damping ratio computation fail, we use Klipper default value instead
if zeta is None:
zeta = 0.1
zeta = zeta if zeta is not None else 0.1
compat = False
try:
shaper, all_shapers = helper.find_best_shaper(
k_shaper_choice, all_shapers = helper.find_best_shaper(
calibration_data,
shapers=None,
damping_ratio=zeta,
@@ -129,23 +128,79 @@ def calibrate_shaper(datas: List[np.ndarray], max_smoothing: Optional[float], sc
max_smoothing=max_smoothing,
test_damping_ratios=None,
max_freq=max_freq,
logger=ConsoleOutput.print,
logger=None,
)
ConsoleOutput.print(
(
f'Detected a square corner velocity of {scv:.1f} and a damping ratio of {zeta:.3f}. '
'These values will be used to compute the input shaper filter recommendations'
)
)
except TypeError:
ConsoleOutput.print(
'[WARNING] You seem to be using an older version of Klipper that is not compatible with all the latest Shake&Tune features!'
(
'[WARNING] You seem to be using an older version of Klipper that is not compatible with all the latest '
'Shake&Tune features!\nShake&Tune now runs in compatibility mode: be aware that the results may be '
'slightly off, since the real damping ratio cannot be used to craft accurate filter recommendations'
)
ConsoleOutput.print(
'Shake&Tune now runs in compatibility mode: be aware that the results may be slightly off, since the real damping ratio cannot be used to create the filter recommendations'
)
compat = True
shaper, all_shapers = helper.find_best_shaper(calibration_data, max_smoothing, ConsoleOutput.print)
k_shaper_choice, all_shapers = helper.find_best_shaper(calibration_data, max_smoothing, None)
ConsoleOutput.print(
f'\n-> Recommended shaper is {shaper.name.upper()} @ {shaper.freq:.1f} Hz (when using a square corner velocity of {scv:.1f} and a damping ratio of {zeta:.3f})'
# If max_smoothing is not None, we run the same computation but without a smoothing value
# to get the max smoothing values from the filters and create the testing list
all_shapers_nosmoothing = None
if max_smoothing is not None:
if compat:
_, all_shapers_nosmoothing = helper.find_best_shaper(calibration_data, None, None)
else:
_, all_shapers_nosmoothing = helper.find_best_shaper(
calibration_data,
shapers=None,
damping_ratio=zeta,
scv=scv,
shaper_freqs=None,
max_smoothing=None,
test_damping_ratios=None,
max_freq=max_freq,
logger=None,
)
return shaper.name, all_shapers, calibration_data, fr, zeta, compat
# Then we iterate over the all_shaperts_nosmoothing list to get the max of the smoothing values
max_smoothing = 0.0
if all_shapers_nosmoothing is not None:
for shaper in all_shapers_nosmoothing:
if shaper.smoothing > max_smoothing:
max_smoothing = shaper.smoothing
else:
for shaper in all_shapers:
if shaper.smoothing > max_smoothing:
max_smoothing = shaper.smoothing
# Then we create a list of smoothing values to test (no need to test the max smoothing value as it was already tested)
smoothing_test_list = np.linspace(0.001, max_smoothing, 10)[:-1]
additional_all_shapers = {}
for smoothing in smoothing_test_list:
if compat:
_, all_shapers_bis = helper.find_best_shaper(calibration_data, smoothing, None)
else:
_, all_shapers_bis = helper.find_best_shaper(
calibration_data,
shapers=None,
damping_ratio=zeta,
scv=scv,
shaper_freqs=None,
max_smoothing=smoothing,
test_damping_ratios=None,
max_freq=max_freq,
logger=None,
)
additional_all_shapers[f'sm_{smoothing}'] = all_shapers_bis
additional_all_shapers['max_smoothing'] = (
all_shapers_nosmoothing if all_shapers_nosmoothing is not None else all_shapers
)
return k_shaper_choice.name, all_shapers, additional_all_shapers, calibration_data, fr, zeta, max_smoothing, compat
######################################################################
@@ -164,7 +219,7 @@ def plot_freq_response(
fr: float,
zeta: float,
max_freq: float,
) -> None:
) -> Dict[str, List[Dict[str, str]]]:
freqs = calibration_data.freqs
psd = calibration_data.psd_sum
px = calibration_data.psd_x
@@ -193,27 +248,40 @@ def plot_freq_response(
ax2 = ax.twinx()
ax2.yaxis.set_visible(False)
shaper_table_data = {
'shapers': [],
'recommendations': [],
'damping_ratio': zeta,
}
# Draw the shappers curves and add their specific parameters in the legend
perf_shaper_choice = None
perf_shaper_vals = None
perf_shaper_freq = None
perf_shaper_accel = 0
for shaper in shapers:
shaper_max_accel = round(shaper.max_accel / 100.0) * 100.0
label = f'{shaper.name.upper()} ({shaper.freq:.1f} Hz, vibr={shaper.vibrs * 100.0:.1f}%, sm~={shaper.smoothing:.2f}, accel<={shaper_max_accel:.0f})'
ax2.plot(freqs, shaper.vals, label=label, linestyle='dotted')
ax2.plot(freqs, shaper.vals, label=shaper.name.upper(), linestyle='dotted')
shaper_info = {
'type': shaper.name.upper(),
'frequency': shaper.freq,
'vibrations': shaper.vibrs,
'smoothing': shaper.smoothing,
'max_accel': shaper.max_accel,
}
shaper_table_data['shapers'].append(shaper_info)
# Get the Klipper recommended shaper (usually it's a good low vibration compromise)
if shaper.name == klipper_shaper_choice:
klipper_shaper_freq = shaper.freq
klipper_shaper_vals = shaper.vals
klipper_shaper_accel = shaper_max_accel
klipper_shaper_accel = shaper.max_accel
# Find the shaper with the highest accel but with vibrs under MAX_VIBRATIONS as it's
# a good performance compromise when injecting the SCV and damping ratio in the computation
if perf_shaper_accel < shaper_max_accel and shaper.vibrs * 100 < MAX_VIBRATIONS:
if perf_shaper_accel < shaper.max_accel and shaper.vibrs * 100 < MAX_VIBRATIONS:
perf_shaper_choice = shaper.name
perf_shaper_accel = shaper_max_accel
perf_shaper_accel = shaper.max_accel
perf_shaper_freq = shaper.freq
perf_shaper_vals = shaper.vals
@@ -226,32 +294,30 @@ def plot_freq_response(
and perf_shaper_choice != klipper_shaper_choice
and perf_shaper_accel >= klipper_shaper_accel
):
ax2.plot(
[],
[],
' ',
label=f'Recommended performance shaper: {perf_shaper_choice.upper()} @ {perf_shaper_freq:.1f} Hz',
perf_shaper_string = f'Recommended performance shaper: {perf_shaper_choice.upper()} @ {perf_shaper_freq:.1f} Hz'
lowvibr_shaper_string = (
f'Recommended low vibrations shaper: {klipper_shaper_choice.upper()} @ {klipper_shaper_freq:.1f} Hz'
)
shaper_table_data['recommendations'].append(perf_shaper_string)
shaper_table_data['recommendations'].append(lowvibr_shaper_string)
ConsoleOutput.print(f'{perf_shaper_string} (with a damping ratio of {zeta:.3f})')
ConsoleOutput.print(f'{lowvibr_shaper_string} (with a damping ratio of {zeta:.3f})')
ax.plot(
freqs,
psd * perf_shaper_vals,
label=f'With {perf_shaper_choice.upper()} applied',
color='cyan',
)
ax2.plot(
[],
[],
' ',
label=f'Recommended low vibrations shaper: {klipper_shaper_choice.upper()} @ {klipper_shaper_freq:.1f} Hz',
ax.plot(
freqs,
psd * klipper_shaper_vals,
label=f'With {klipper_shaper_choice.upper()} applied',
color='lime',
)
ax.plot(freqs, psd * klipper_shaper_vals, label=f'With {klipper_shaper_choice.upper()} applied', color='lime')
else:
ax2.plot(
[],
[],
' ',
label=f'Recommended performance shaper: {klipper_shaper_choice.upper()} @ {klipper_shaper_freq:.1f} Hz',
)
shaper_string = f'Recommended best shaper: {klipper_shaper_choice.upper()} @ {klipper_shaper_freq:.1f} Hz'
shaper_table_data['recommendations'].append(shaper_string)
ConsoleOutput.print(f'{shaper_string} (with a damping ratio of {zeta:.3f})')
ax.plot(
freqs,
psd * klipper_shaper_vals,
@@ -259,9 +325,6 @@ def plot_freq_response(
color='cyan',
)
# And the estimated damping ratio is finally added at the end of the legend
ax2.plot([], [], ' ', label=f'Estimated damping ratio (ζ): {zeta:.3f}')
# Draw the detected peaks and name them
# This also draw the detection threshold and warning threshold (aka "effect zone")
ax.plot(peaks_freqs, psd[peaks], 'x', color='black', markersize=8)
@@ -297,7 +360,7 @@ def plot_freq_response(
ax.legend(loc='upper left', prop=fontP)
ax2.legend(loc='upper right', prop=fontP)
return
return shaper_table_data
# Plot a time-frequency spectrogram to see how the system respond over time during the
@@ -350,6 +413,96 @@ def plot_spectrogram(
return
def plot_smoothing_vs_accel(
ax: plt.Axes,
shaper_table_data: Dict[str, List[Dict[str, str]]],
additional_shapers: Dict[str, List[Dict[str, str]]],
) -> None:
fontP = matplotlib.font_manager.FontProperties()
fontP.set_size('x-small')
ax.xaxis.set_minor_locator(matplotlib.ticker.MultipleLocator(1000))
ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
ax.grid(which='major', color='grey')
ax.grid(which='minor', color='lightgrey')
shaper_data = {}
# Extract data from additional_shapers first
for _, shapers in additional_shapers.items():
for shaper in shapers:
shaper_type = shaper.name.upper()
if shaper_type not in shaper_data:
shaper_data[shaper_type] = []
shaper_data[shaper_type].append(
{
'smoothing': shaper.smoothing,
'max_accel': shaper.max_accel,
'vibrs': shaper.vibrs * 100.0,
}
)
# Extract data from shaper_table_data and insert into shaper_data
for shaper in shaper_table_data['shapers']:
shaper_type = shaper['type']
if shaper_type not in shaper_data:
shaper_data[shaper_type] = []
shaper_data[shaper_type].append(
{
'smoothing': float(shaper['smoothing']),
'max_accel': float(shaper['max_accel']),
'vibrs': float(shaper['vibrations']) * 100.0,
}
)
# Plot each shaper type and add colorbar for vibrations
for _, (shaper_type, data) in enumerate(shaper_data.items()):
smoothing_values = [d['smoothing'] for d in data]
max_accel_values = [d['max_accel'] for d in data]
vibrs_values = [d['vibrs'] for d in data]
ax.plot(max_accel_values, smoothing_values, linestyle=':', label=f'{shaper_type}', zorder=10)
scatter = ax.scatter(
max_accel_values, smoothing_values, c=vibrs_values, cmap='plasma', s=100, edgecolors='w', zorder=15
)
# Add colorbar for vibrations
cbar = plt.colorbar(scatter, ax=ax)
cbar.set_label('Remaining Vibrations (%)')
ax.set_xlabel('Max Acceleration')
ax.set_ylabel('Smoothing')
ax.set_title(
'Smoothing vs Max Acceleration',
fontsize=14,
color=KLIPPAIN_COLORS['dark_orange'],
weight='bold',
)
ax.legend(loc='upper right', prop=fontP)
def print_shaper_table(fig: plt.Figure, shaper_table_data: Dict[str, List[Dict[str, str]]]) -> None:
columns = ['Type', 'Frequency', 'Vibrations', 'Smoothing', 'Max Accel']
table_data = []
for shaper_info in shaper_table_data['shapers']:
row = [
f'{shaper_info["type"].upper()}',
f'{shaper_info["frequency"]:.1f} Hz',
f'{shaper_info["vibrations"] * 100:.1f} %',
f'{shaper_info["smoothing"]:.3f}',
f'{round(shaper_info["max_accel"] / 10) * 10:.0f}',
]
table_data.append(row)
table = plt.table(cellText=table_data, colLabels=columns, bbox=[1.12, -0.4, 0.75, 0.25], cellLoc='center')
table.auto_set_font_size(False)
table.set_fontsize(10)
table.auto_set_column_width([0, 1, 2, 3, 4])
table.set_zorder(100)
# Add the recommendations and damping ratio using fig.text
fig.text(0.58, 0.235, f'Estimated damping ratio (ζ): {shaper_table_data["damping_ratio"]:.3f}', fontsize=14)
fig.text(0.58, 0.210, '\n'.join(shaper_table_data['recommendations']), fontsize=14)
######################################################################
# Startup and main routines
######################################################################
@@ -375,8 +528,8 @@ def shaper_calibration(
ConsoleOutput.print('Warning: incorrect number of .csv files detected. Only the first one will be used!')
# Compute shapers, PSD outputs and spectrogram
klipper_shaper_choice, shapers, calibration_data, fr, zeta, compat = calibrate_shaper(
datas[0], max_smoothing, scv, max_freq
klipper_shaper_choice, shapers, additional_shapers, calibration_data, fr, zeta, max_smoothing_computed, compat = (
calibrate_shaper(datas[0], max_smoothing, scv, max_freq)
)
pdata, bins, t = compute_spectrogram(datas[0])
del datas
@@ -400,29 +553,31 @@ def shaper_calibration(
peak_freqs_formated = ['{:.1f}'.format(f) for f in peaks_freqs]
num_peaks_above_effect_threshold = np.sum(calibration_data.psd_sum[peaks] > peaks_threshold[1])
ConsoleOutput.print(
f"\nPeaks detected on the graph: {num_peaks} @ {', '.join(map(str, peak_freqs_formated))} Hz ({num_peaks_above_effect_threshold} above effect threshold)"
f"Peaks detected on the graph: {num_peaks} @ {', '.join(map(str, peak_freqs_formated))} Hz ({num_peaks_above_effect_threshold} above effect threshold)"
)
# Create graph layout
fig, (ax1, ax2) = plt.subplots(
fig, ((ax1, ax3), (ax2, ax4)) = plt.subplots(
2,
2,
1,
gridspec_kw={
'height_ratios': [4, 3],
'width_ratios': [5, 4],
'bottom': 0.050,
'top': 0.890,
'left': 0.085,
'left': 0.048,
'right': 0.966,
'hspace': 0.169,
'wspace': 0.200,
'wspace': 0.150,
},
)
fig.set_size_inches(8.3, 11.6)
ax4.remove()
fig.set_size_inches(15, 11.6)
# Add a title with some test info
title_line1 = 'INPUT SHAPER CALIBRATION TOOL'
fig.text(
0.12, 0.965, title_line1, ha='left', va='bottom', fontsize=20, color=KLIPPAIN_COLORS['purple'], weight='bold'
0.065, 0.965, title_line1, ha='left', va='bottom', fontsize=20, color=KLIPPAIN_COLORS['purple'], weight='bold'
)
try:
filename_parts = (lognames[0].split('/')[-1]).split('_')
@@ -433,8 +588,11 @@ def shaper_calibration(
title_line4 = '| and SCV are not used for filter recommendations!'
title_line5 = f'| Accel per Hz used: {accel_per_hz} mm/s²/Hz' if accel_per_hz is not None else ''
else:
max_smoothing_string = (
f'maximum ({max_smoothing_computed:0.3f})' if max_smoothing is None else f'{max_smoothing:0.3f}'
)
title_line3 = f'| Square corner velocity: {scv} mm/s'
title_line4 = f'| Max allowed smoothing: {max_smoothing}'
title_line4 = f'| Allowed smoothing: {max_smoothing_string}'
title_line5 = f'| Accel per Hz used: {accel_per_hz} mm/s²/Hz' if accel_per_hz is not None else ''
except Exception:
ConsoleOutput.print(f'Warning: CSV filename look to be different than expected ({lognames[0]})')
@@ -442,19 +600,22 @@ def shaper_calibration(
title_line3 = ''
title_line4 = ''
title_line5 = ''
fig.text(0.12, 0.957, title_line2, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
fig.text(0.58, 0.963, title_line3, ha='left', va='top', fontsize=10, color=KLIPPAIN_COLORS['dark_purple'])
fig.text(0.58, 0.948, title_line4, ha='left', va='top', fontsize=10, color=KLIPPAIN_COLORS['dark_purple'])
fig.text(0.58, 0.933, title_line5, ha='left', va='top', fontsize=10, color=KLIPPAIN_COLORS['dark_purple'])
fig.text(0.065, 0.957, title_line2, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
fig.text(0.50, 0.990, title_line3, ha='left', va='top', fontsize=14, color=KLIPPAIN_COLORS['dark_purple'])
fig.text(0.50, 0.968, title_line4, ha='left', va='top', fontsize=14, color=KLIPPAIN_COLORS['dark_purple'])
fig.text(0.501, 0.945, title_line5, ha='left', va='top', fontsize=10, color=KLIPPAIN_COLORS['dark_purple'])
# Plot the graphs
plot_freq_response(
shaper_table_data = plot_freq_response(
ax1, calibration_data, shapers, klipper_shaper_choice, peaks, peaks_freqs, peaks_threshold, fr, zeta, max_freq
)
plot_spectrogram(ax2, t, bins, pdata, peaks_freqs, max_freq)
plot_smoothing_vs_accel(ax3, shaper_table_data, additional_shapers)
print_shaper_table(fig, shaper_table_data)
# Adding a small Klippain logo to the top left corner of the figure
ax_logo = fig.add_axes([0.001, 0.8995, 0.1, 0.1], anchor='NW')
ax_logo = fig.add_axes([0.001, 0.924, 0.075, 0.075], anchor='NW')
ax_logo.imshow(plt.imread(os.path.join(os.path.dirname(os.path.abspath(__file__)), 'klippain.png')))
ax_logo.axis('off')