small code cleaning and fixes

README.md

@@ -33,22 +33,22 @@ Follow these steps to install Shake&Tune on your printer:
      #    The maximum time in seconds to let Shake&Tune process the CSV files and generate the graphs.
 
      # motor_freq:
-     #    /!\ This option is only available in DangerKlipper /!\
+     #    /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
      #    Frequencies of X and Y motor resonances to filter them using
-     #    composite shapers. This require the `[input_shaper]` config
+     #    composite shapers. This requires the `[input_shaper]` config
      #    section to be defined in your printer.cfg file to work.
      # motor_freq_x:
      # motor_freq_y:
-     #   /!\ This option is only available in DangerKlipper /!\
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
      #   If motor_freq is not set, these two parameters can be used
      #   to configure different filters for X and Y motors. The same
      #   values are supported as for motor_freq parameter.
      # motor_damping_ratio: 0.05
-     #   /!\ This option is only available in DangerKlipper /!\
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
-     #   Damping ratios of X and Y motor resonances. 
+     #   Damping ratios for X and Y motor resonances. 
      # motor_damping_ratio_x:
      # motor_damping_ratio_y:
-     #   /!\ This option is only available in DangerKlipper /!\
+     #   /!\ This option has limitations in stock Klipper and is best used with DangerKlipper /!\
      #   If motor_damping_ratio is not set, these two parameters can be used
      #   to configure different filters for X and Y motors. The same values
      #   are supported as for motor_damping_ratio parameter.

shaketune/motor_res_filter.py

@@ -26,7 +26,7 @@ class MotorResonanceFilter:
 
         self._original_shapers = {}
 
-    # Convolve two Klipper shapers into a new composite shaper
+    # Convolve two Klipper shapers into a new custom composite input shaping filter
     @staticmethod
     def convolve_shapers(L, R):
         As = [a * b for a in L[0] for b in R[0]]
@@ -36,6 +36,11 @@ class MotorResonanceFilter:
 
     def apply_filters(self) -> None:
         input_shaper = self._printer.lookup_object('input_shaper', None)
+        if input_shaper is None:
+            raise ValueError(
+                'Unable to apply Shake&Tune motor resonance filters: no [input_shaper] config section found!'
+            )
+
         shapers = input_shaper.get_shapers()
         for shaper in shapers:
             axis = shaper.axis
@@ -71,7 +76,7 @@ class MotorResonanceFilter:
                 ConsoleOutput.print(
                     (
                         f'Error: the {axis} axis is not a ZV type shaper. Shake&Tune motor resonance filters '
-                        'will be ignored for this axis... Thi is due to the size of the pulse train being too '
+                        'will be ignored for this axis... This is due to the size of the pulse train being too '
                         'small and not allowing the convolved shapers to be applied... unless this PR is '
                         'merged: https://github.com/Klipper3d/klipper/pull/6460'
                     )
@@ -109,6 +114,11 @@ class MotorResonanceFilter:
 
     def remove_filters(self) -> None:
         input_shaper = self._printer.lookup_object('input_shaper', None)
+        if input_shaper is None:
+            raise ValueError(
+                'Unable to deactivate Shake&Tune motor resonance filters: no [input_shaper] config section found!'
+            )
+
         shapers = input_shaper.get_shapers()
         for shaper in shapers:
             axis = shaper.axis

shaketune/shaketune.py

@@ -31,7 +31,6 @@ from .motor_res_filter import MotorResonanceFilter
 from .shaketune_config import ShakeTuneConfig
 from .shaketune_process import ShakeTuneProcess
 
-IN_DANGER = False
 DEFAULT_MOTOR_DAMPING_RATIO = 0.05
 ST_COMMANDS = {
     'EXCITATE_AXIS_AT_FREQ': (
@@ -58,33 +57,18 @@ class ShakeTune:
     def __init__(self, config) -> None:
         self._config = config
         self._printer = config.get_printer()
+        self._printer.register_event_handler('klippy:connect', self._on_klippy_connect)
 
-        self._initialize_danger_klipper()
+        # Check if Shake&Tune is running in DangerKlipper
-        self._initialize_console_output()
+        self.IN_DANGER = importlib.util.find_spec('extras.danger_options') is not None
-        self._validate_resonance_tester()
-        self._initialize_config(config)
-        self._register_commands()
-        self._initialize_motor_resonance_filter()
 
-    # Check if Shake&Tune is running in DangerKlipper
+        # Register the console print output callback to the corresponding Klipper function
-    def _initialize_danger_klipper(self) -> None:
-        global IN_DANGER
-        if importlib.util.find_spec('extras.danger_options') is not None:
-            IN_DANGER = True
-
-    # Register the console print output callback to the corresponding Klipper function
-    def _initialize_console_output(self) -> None:
         gcode = self._printer.lookup_object('gcode')
         ConsoleOutput.register_output_callback(gcode.respond_info)
 
-    # Check if the resonance_tester object is available in the printer
+        self._initialize_config(config)
-    # configuration as it is required for Shake&Tune to work properly
+        self._register_commands()
-    def _validate_resonance_tester(self) -> None:
+        self._initialize_motor_resonance_filter()
-        res_tester = self._printer.lookup_object('resonance_tester', None)
-        if res_tester is None:
-            raise self._config.error(
-                'No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune.'
-            )
 
     # Initialize the ShakeTune object and its configuration
     def _initialize_config(self, config) -> None:
@@ -155,44 +139,63 @@ class ShakeTune:
                 self._printer.load_object(self._config, gcode_macro_name.lower())
 
     # Register the motor resonance filters if they are defined in the config
-    # DangerKlipper is required for now or a degraded system forcing the ZV filter for
+    # DangerKlipper is required for the full feature but a degraded system forcing the ZV filter for
-    # both input shaping and motor resonance filter will be used instead. But this will
+    # both input shaping and motor resonance filter will be used instead in stock Klipper. But this might
     # be improved in the future if https://github.com/Klipper3d/klipper/pull/6460 get merged
-    # TODO: To mitigate this issue, add a automated patch to klippy/chelper/kin_shaper.c
+    # TODO: To mitigate this issue, add an automated patch to klippy/chelper/kin_shaper.c
     #       (using a .diff file) to enable the motor filters in stock Klipper as well.
     #       But this will make the Klipper repo dirty to moonraker update manager, so I'm not
     #       sure how to handle this. Maybe with also a command to revert the patch? Or a
     #       manual command to apply the patch with a required user action?
     def _initialize_motor_resonance_filter(self) -> None:
         if self._motor_freq_x is not None and self._motor_freq_y is not None:
-            input_shaper = self._printer.lookup_object('input_shaper', None)
+            self._printer.register_event_handler('klippy:ready', self._on_klippy_ready)
-            if input_shaper is None:
-                raise self._config.error(
-                    (
-                        'Error: motor resonance filters cannot be enabled because the standard '
-                        '[input_shaper] Klipper config section is not configured!'
-                    )
-                )
-
             gcode = self._printer.lookup_object('gcode')
             gcode.register_command(
-                'MOTOR_RESONANCE_FILTER', self.cmd_MOTOR_RESONANCE_FILTER, desc='Enable/disable motor resonance filters'
+                'MOTOR_RESONANCE_FILTER',
+                self.cmd_MOTOR_RESONANCE_FILTER,
+                desc='Enable/disable the motor resonance filters',
             )
-
             self.motor_resonance_filter = MotorResonanceFilter(
                 self._printer,
                 self._motor_freq_x,
                 self._motor_freq_y,
                 self._motor_damping_x,
                 self._motor_damping_y,
-                IN_DANGER,
+                self.IN_DANGER,
             )
 
-            self._printer.register_event_handler('klippy:ready', self.handle_ready)
+    def _on_klippy_connect(self) -> None:
+        # Check if the resonance_tester object is available in the printer
+        # configuration as it is required for Shake&Tune to work properly
+        res_tester = self._printer.lookup_object('resonance_tester', None)
+        if res_tester is None:
+            raise self._config.error(
+                'No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune!'
+            )
 
-    def handle_ready(self) -> None:
+        # In case the user has configured a motor resonance filter, we need to make sure
+        # that the input shaper is configured as well in order to use them. This is because
+        # the input shaper object is the one used to actually applies the additional filters
+        if self._motor_freq_x is not None and self._motor_freq_y is not None:
+            input_shaper = self._printer.lookup_object('input_shaper', None)
+            if input_shaper is None:
+                raise self._config.error(
+                    (
+                        'No [input_shaper] config section found in printer.cfg! Please add one to use Shake&Tune '
+                        'motor resonance filters!'
+                    )
+                )
+
+    def _on_klippy_ready(self) -> None:
         self.motor_resonance_filter.apply_filters()
 
+    # ------------------------------------------------------------------------------------------
+    # ------------------------------------------------------------------------------------------
+    # Following are all the Shake&Tune commands that are registered to the Klipper console
+    # ------------------------------------------------------------------------------------------
+    # ------------------------------------------------------------------------------------------
+
     def cmd_EXCITATE_AXIS_AT_FREQ(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
         static_freq_graph_creator = StaticGraphCreator(self._st_config)