updated CI smoke tests

.github/workflows/test.yml

@@ -0,0 +1,69 @@
+name: Smoke Tests
+on:
+  workflow_dispatch:
+  push:
+
+jobs:
+  klippy_testing:
+    name: Klippy Tests
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        klipper_repo:
+          - klipper3d/klipper
+          - DangerKlippers/danger-klipper
+    steps: 
+      - name: Checkout shaketune
+        uses: actions/checkout@v4
+        with:
+          path: shaketune
+      - name: Checkout Klipper
+        uses: actions/checkout@v4
+        with:
+          path: klipper
+          repository: ${{ matrix.klipper_repo }}
+          ref: master
+      - name: Install build dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential gcc-avr avr-libc
+      - name: Build klipper dict
+        run: |
+          pushd klipper
+          cp ../shaketune/ci/smoke-test/klipper-smoketest.kconfig .config
+          make olddefconfig
+          make out/compile_time_request.o
+          popd
+      - name: Setup klippy env
+        run: |
+          python3 -m venv --prompt klippy klippy-env
+          ./klippy-env/bin/python -m pip install -r klipper/scripts/klippy-requirements.txt
+          ./klippy-env/bin/python -m pip install -r shaketune/requirements.txt
+      - name: Install shaketune
+        run: |
+          ln -s $PWD/shaketune/shaketune $PWD/klipper/klippy/extras/shaketune
+      - name: Klipper import test
+        run: |
+          ./klippy-env/bin/python klipper/klippy/klippy.py --import-test
+      - name: Klipper integrated test
+        run: |
+          pushd klipper
+          mkdir ../dicts
+          cp ../klipper/out/klipper.dict ../dicts/atmega2560.dict
+          ../klippy-env/bin/python scripts/test_klippy.py -d ../dicts ../shaketune/ci/smoke-test/klippy-tests/simple.test
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          cache: 'pip'
+      - name: install ruff
+        run: |
+          pip install ruff
+      - name: run ruff tests
+        run: |
+          ruff check
+
+      

ci/smoke-test/klipper-smoketest.kconfig

@@ -0,0 +1,4 @@
+# Base Kconfig file for atmega2560
+CONFIG_MACH_AVR=y
+CONFIG_MACH_atmega2560=y
+CONFIG_CLOCK_FREQ=16000000

ci/smoke-test/klippy-tests/simple.cfg

@@ -0,0 +1,85 @@
+# Test config with a minimal setup to have kind
+# of a machine ready with an ADXL345 and an MPU9250
+# to have the required the resonance_tester section
+# and allow loading and initializing Shake&Tune into Klipper
+
+[stepper_x]
+step_pin: PF0
+dir_pin: PF1
+enable_pin: !PD7
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PE5
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_y]
+step_pin: PF6
+dir_pin: !PF7
+enable_pin: !PF2
+microsteps: 16
+rotation_distance: 40
+endstop_pin: ^PJ1
+position_endstop: 0
+position_max: 200
+homing_speed: 50
+
+[stepper_z]
+step_pin: PL3
+dir_pin: PL1
+enable_pin: !PK0
+microsteps: 16
+rotation_distance: 8
+endstop_pin: ^PD3
+position_endstop: 0.5
+position_max: 200
+
+[extruder]
+step_pin: PA4
+dir_pin: PA6
+enable_pin: !PA2
+microsteps: 16
+rotation_distance: 33.5
+nozzle_diameter: 0.500
+filament_diameter: 3.500
+heater_pin: PB4
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK5
+control: pid
+pid_Kp: 22.2
+pid_Ki: 1.08
+pid_Kd: 114
+min_temp: 0
+max_temp: 210
+
+[heater_bed]
+heater_pin: PH5
+sensor_type: EPCOS 100K B57560G104F
+sensor_pin: PK6
+control: watermark
+min_temp: 0
+max_temp: 110
+
+[mcu]
+serial: /dev/ttyACM0
+
+[printer]
+kinematics: cartesian
+max_velocity: 300
+max_accel: 3000
+max_z_velocity: 5
+max_z_accel: 100
+
+[adxl345]
+cs_pin: PK7
+axes_map: -x,-y,z
+
+[mpu9250 my_mpu]
+
+[resonance_tester]
+probe_points: 20,20,20
+accel_chip_x: adxl345
+accel_chip_y: mpu9250 my_mpu
+
+[shaketune]

ci/smoke-test/klippy-tests/simple.test

@@ -0,0 +1,4 @@
+CONFIG simple.cfg
+DICTIONARY atmega2560.dict
+
+G4 P1000

docs/macros/axes_map_calibration.md

@@ -36,9 +36,9 @@ axes_map: -z,y,x
 
 This plot shows the acceleration data over time for the X, Y, and Z axes after removing the gravity offset. Look for patterns in the acceleration data for each axis: you should have exactly 2 spikes for each subplot (for the start and stop of the motion) that break away from the global noise. This can help identify any anomalies or inconsistencies in your accelerometer behavior.
 
-The detected gravity offset is printed in the legend to give some context to the readings and their scale: if it's too far from the standard 9.8-10 m/s², this means that your accelerometer is not working properly and should be fixed or calibrated.
+The dynamic noise and background vibrations measured by the accelerometer are extracted from the signal (using wavelet transform decomposition) and printed in the legend. **Usually values below about 500mm/s² are ok**, but Shake&Tune will automatically add a note if too much noise is recorded. **Be careful because this value is very different from Klipper's `MEASURE_AXES_NOISE` command, as Shake&Tune measures everything during the motion**, such as accelerometer noise, but also vibrations and motor noise, axis and toolhead oscillations, etc. If you want to record your axes_map correctly, you may need to use about 10 times this value in the `ACCEL` parameter to get a good signal-to-noise ratio and allow Shake&Tune to correctly detect the toolhead acceleration and deceleration phases.
 
-The average noise in the accelerometer measurement is calculated (using wavelet transform decomposition) and displayed at the top of the image. Usually values <500mm/s² are ok, but a note is automatically added by Shake&Tune in case your accelerometer has too much noise.
+The detected gravity offset is printed in the legend to give some context to the readings and their scale: if it's too far from the standard 9.8-10 m/s², this means that your accelerometer is not working properly and should be fixed or calibrated.
 
 ### Estimated 3D movement path
 

docs/macros/axes_shaper_calibrations.md

@@ -11,10 +11,10 @@ Then, call the `AXES_SHAPER_CALIBRATION` macro and look for the graphs in the re
 
 | parameters | default value | description |
 |-----------:|---------------|-------------|
-|FREQ_START|5|starting excitation frequency|
-|FREQ_END|133|maximum excitation frequency|
+|FREQ_START|None (default to `[resonance_tester]` value)|starting excitation frequency|
+|FREQ_END|None (default to `[resonance_tester]` value)|maximum excitation frequency|
 |HZ_PER_SEC|1|number of Hz per seconds for the test|
-|ACCEL_PER_HZ|None|accel per Hz value used for the test. If unset, it will use the value from your `[resonance_tester]` config section (75 is the default)|
+|ACCEL_PER_HZ|None (default to `[resonance_tester]` value)|accel per Hz value used for the test|
 |AXIS|"all"|axis you want to test in the list of "all", "X" or "Y"|
 |SCV|printer square corner velocity|square corner velocity you want to use to calculate shaper recommendations. Using higher SCV values usually results in more smoothing and lower maximum accelerations|
 |MAX_SMOOTHING|None|max smoothing allowed when calculating shaper recommendations|

docs/macros/compare_belts_responses.md

@@ -15,10 +15,10 @@ Then, call the `COMPARE_BELTS_RESPONSES` macro and look for the graphs in the re
 
 | parameters | default value | description |
 |-----------:|---------------|-------------|
-|FREQ_START|5|starting excitation frequency|
-|FREQ_END|133|maximum excitation frequency|
+|FREQ_START|None (default to `[resonance_tester]` value)|starting excitation frequency|
+|FREQ_END|None (default to `[resonance_tester]` value)|maximum excitation frequency|
 |HZ_PER_SEC|1|number of Hz per seconds for the test|
-|ACCEL_PER_HZ|None|accel per Hz value used for the test. If unset, it will use the value from your `[resonance_tester]` config section (75 is the default)|
+|ACCEL_PER_HZ|None (default to `[resonance_tester]` value)|accel per Hz value used for the test|
 |TRAVEL_SPEED|120|speed in mm/s used for all the travel movements (to go to the start position prior to the test)|
 |Z_HEIGHT|None|Z height wanted for the test. This value can be used if needed to override the Z value of the probe_point set in your `[resonance_tester]` config section|
 

docs/macros/excitate_axis_at_freq.md

@@ -12,7 +12,7 @@ Here are the parameters available:
 |CREATE_GRAPH|0|whether or not to record the accelerometer data and create an associated graph during the excitation|
 |FREQUENCY|25|excitation frequency (in Hz) that you want to maintain. Usually, it's the frequency of a peak on one of the graphs|
 |DURATION|30|duration in second to maintain this excitation|
-|ACCEL_PER_HZ|None|accel per Hz value used for the test. If unset, it will use the value from your `[resonance_tester]` config section (75 is the default)|
+|ACCEL_PER_HZ|None (default to `[resonance_tester]` value)|accel per Hz value used for the test|
 |AXIS|x|axis you want to excitate. Can be set to either "x", "y", "a", "b"|
 |TRAVEL_SPEED|120|speed in mm/s used for all the travel movements (to go to the start position prior to the test)|
 |Z_HEIGHT|None|Z height wanted for the test. This value can be used if needed to override the Z value of the probe_point set in your `[resonance_tester]` config section|

pyproject.toml

@@ -1,5 +1,5 @@
 [project]
-name = "Shake&Tune"
+name = "shake_n_tune"
 description = "Klipper streamlined input shaper workflow and calibration tools"
 readme = "README.md"
 requires-python = ">= 3.9"

shaketune/commands/accelerometer.py

@@ -9,15 +9,21 @@
 #              accelerometer measurements and write the data to a file in a blocking manner.
 
 
+import os
 import time
+from multiprocessing import Process, Queue
 
-# from ..helpers.console_output import ConsoleOutput
+FILE_WRITE_TIMEOUT = 10  # seconds
 
 
 class Accelerometer:
-    def __init__(self, klipper_accelerometer):
+    def __init__(self, reactor, klipper_accelerometer):
         self._k_accelerometer = klipper_accelerometer
+        self._reactor = reactor
+
         self._bg_client = None
+        self._write_queue = Queue()
+        self._write_processes = []
 
     @staticmethod
     def find_axis_accelerometer(printer, axis: str = 'xy'):
@@ -32,7 +38,6 @@ class Accelerometer:
     def start_measurement(self):
         if self._bg_client is None:
             self._bg_client = self._k_accelerometer.start_internal_client()
-            # ConsoleOutput.print('Accelerometer measurements started')
         else:
             raise ValueError('measurements already started!')
 
@@ -54,12 +59,49 @@ class Accelerometer:
         bg_client.finish_measurements()
 
         filename = f'/tmp/shaketune-{name}.csv'
-        self._write_to_file(bg_client, filename)
-        # ConsoleOutput.print(f'Accelerometer measurements stopped. Data written to {filename}')
+        self._queue_file_write(bg_client, filename)
+
+    def _queue_file_write(self, bg_client, filename):
+        self._write_queue.put(filename)
+        write_proc = Process(target=self._write_to_file, args=(bg_client, filename))
+        write_proc.daemon = True
+        write_proc.start()
+        self._write_processes.append(write_proc)
 
     def _write_to_file(self, bg_client, filename):
+        try:
+            os.nice(20)
+        except Exception:
+            pass
+
         with open(filename, 'w') as f:
             f.write('#time,accel_x,accel_y,accel_z\n')
             samples = bg_client.samples or bg_client.get_samples()
             for t, accel_x, accel_y, accel_z in samples:
                 f.write(f'{t:.6f},{accel_x:.6f},{accel_y:.6f},{accel_z:.6f}\n')
+
+        self._write_queue.get()
+
+    def wait_for_file_writes(self):
+        while not self._write_queue.empty():
+            eventtime = self._reactor.monotonic()
+            self._reactor.pause(eventtime + 0.1)
+
+        for proc in self._write_processes:
+            if proc is None:
+                continue
+            eventtime = self._reactor.monotonic()
+            endtime = eventtime + FILE_WRITE_TIMEOUT
+            complete = False
+            while eventtime < endtime:
+                eventtime = self._reactor.pause(eventtime + 0.05)
+                if not proc.is_alive():
+                    complete = True
+                    break
+            if not complete:
+                raise TimeoutError(
+                    'Shake&Tune was not able to write the accelerometer data into the CSV file. '
+                    'This might be due to a slow SD card or a busy or full filesystem.'
+                )
+
+        self._write_processes = []

shaketune/commands/axes_map_calibration.py

@@ -37,15 +37,21 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         raise gcmd.error(
             f'The parameter axes_map is already set in your {accel_chip} configuration! Please remove it (or set it to "x,y,z")!'
         )
-    accelerometer = Accelerometer(k_accelerometer)
+    accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
 
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
-    old_mcr = toolhead_info['minimum_cruise_ratio']
     old_sqv = toolhead_info['square_corner_velocity']
 
     # set the wanted acceleration values
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
+    if 'minimum_cruise_ratio' in toolhead_info:
+        old_mcr = toolhead_info['minimum_cruise_ratio']  # minimum_cruise_ratio found: Klipper >= v0.12.0-239
+        gcode.run_script_from_command(
+            f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0'
+        )
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        old_mcr = None
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')
 
     # Deactivate input shaper if it is active to get raw movements
     input_shaper = printer.lookup_object('input_shaper', None)
@@ -82,14 +88,20 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     toolhead.dwell(0.5)
     accelerometer.stop_measurement('axesmap_Z', append_time=True)
 
+    accelerometer.wait_for_file_writes()
+
     # Re-enable the input shaper if it was active
     if input_shaper is not None:
         input_shaper.enable_shaping()
 
     # Restore the previous acceleration values
-    gcode.run_script_from_command(
-        f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
-    )
+    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_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
+        )
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
+
     toolhead.wait_moves()
 
     # Run post-processing

shaketune/commands/axes_shaper_calibration.py

@@ -17,14 +17,20 @@ from .accelerometer import Accelerometer
 
 
 def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
-    min_freq = gcmd.get_float('FREQ_START', default=5, minval=1)
-    max_freq = gcmd.get_float('FREQ_END', default=133.33, minval=1)
+    printer = config.get_printer()
+    toolhead = printer.lookup_object('toolhead')
+    res_tester = printer.lookup_object('resonance_tester')
+    systime = printer.get_reactor().monotonic()
+    toolhead_info = toolhead.get_status(systime)
+
+    min_freq = gcmd.get_float('FREQ_START', default=res_tester.test.min_freq, minval=1)
+    max_freq = gcmd.get_float('FREQ_END', default=res_tester.test.max_freq, minval=1)
     hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, minval=1)
     accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
     axis_input = gcmd.get('AXIS', default='all').lower()
     if axis_input not in {'x', 'y', 'all'}:
         raise gcmd.error('AXIS selection invalid. Should be either x, y, or all!')
-    scv = gcmd.get_float('SCV', default=None, minval=0)
+    scv = gcmd.get_float('SCV', default=toolhead_info['square_corner_velocity'], minval=0)
     max_sm = gcmd.get_float('MAX_SMOOTHING', default=None, minval=0)
     feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
     z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
@@ -32,18 +38,11 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     if accel_per_hz == '':
         accel_per_hz = None
 
-    printer = config.get_printer()
-    gcode = printer.lookup_object('gcode')
-    toolhead = printer.lookup_object('toolhead')
-    res_tester = printer.lookup_object('resonance_tester')
-    systime = printer.get_reactor().monotonic()
-
-    if scv is None:
-        toolhead_info = toolhead.get_status(systime)
-        scv = toolhead_info['square_corner_velocity']
-
     if accel_per_hz is None:
         accel_per_hz = res_tester.test.accel_per_hz
+
+    gcode = printer.lookup_object('gcode')
+
     max_accel = max_freq * accel_per_hz
 
     # Move to the starting point
@@ -77,8 +76,12 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
     # set the needed acceleration values for the test
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
-    old_mcr = toolhead_info['minimum_cruise_ratio']
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} 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}')
 
     # Deactivate input shaper if it is active to get raw movements
     input_shaper = printer.lookup_object('input_shaper', None)
@@ -96,13 +99,15 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         accel_chip = Accelerometer.find_axis_accelerometer(printer, config['axis'])
         if accel_chip is None:
             raise gcmd.error('No suitable accelerometer found for measurement!')
-        accelerometer = Accelerometer(printer.lookup_object(accel_chip))
+        accelerometer = Accelerometer(printer.get_reactor(), printer.lookup_object(accel_chip))
 
         # Then do the actual measurements
         accelerometer.start_measurement()
         vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
         accelerometer.stop_measurement(config['label'], append_time=True)
 
+        accelerometer.wait_for_file_writes()
+
         # And finally generate the graph for each measured axis
         ConsoleOutput.print(f'{config["axis"].upper()} axis frequency profile generation...')
         ConsoleOutput.print('This may take some time (1-3min)')
@@ -116,4 +121,7 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         input_shaper.enable_shaping()
 
     # Restore the previous acceleration values
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
+    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_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_accel}')

shaketune/commands/compare_belts_responses.py

@@ -18,9 +18,14 @@ from .accelerometer import Accelerometer
 
 
 def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
-    min_freq = gcmd.get_float('FREQ_START', default=5.0, minval=1)
-    max_freq = gcmd.get_float('FREQ_END', default=133.33, minval=1)
-    hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1.0, minval=1)
+    printer = config.get_printer()
+    toolhead = printer.lookup_object('toolhead')
+    res_tester = printer.lookup_object('resonance_tester')
+    systime = printer.get_reactor().monotonic()
+
+    min_freq = gcmd.get_float('FREQ_START', default=res_tester.test.min_freq, minval=1)
+    max_freq = gcmd.get_float('FREQ_END', default=res_tester.test.max_freq, minval=1)
+    hz_per_sec = gcmd.get_float('HZ_PER_SEC', default=1, minval=1)
     accel_per_hz = gcmd.get_float('ACCEL_PER_HZ', default=None)
     feedrate_travel = gcmd.get_float('TRAVEL_SPEED', default=120.0, minval=20.0)
     z_height = gcmd.get_float('Z_HEIGHT', default=None, minval=1)
@@ -28,14 +33,11 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
     if accel_per_hz == '':
         accel_per_hz = None
 
-    printer = config.get_printer()
-    gcode = printer.lookup_object('gcode')
-    toolhead = printer.lookup_object('toolhead')
-    res_tester = printer.lookup_object('resonance_tester')
-    systime = printer.get_reactor().monotonic()
-
     if accel_per_hz is None:
         accel_per_hz = res_tester.test.accel_per_hz
+
+    gcode = printer.lookup_object('gcode')
+
     max_accel = max_freq * accel_per_hz
 
     # Configure the graph creator
@@ -58,7 +60,7 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
         raise gcmd.error(
             'No suitable accelerometer found for measurement! Multi-accelerometer configurations are not supported for this macro.'
         )
-    accelerometer = Accelerometer(printer.lookup_object(accel_chip))
+    accelerometer = Accelerometer(printer.get_reactor(), printer.lookup_object(accel_chip))
 
     # Move to the starting point
     test_points = res_tester.test.get_start_test_points()
@@ -87,8 +89,12 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
     # set the needed acceleration values for the test
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
-    old_mcr = toolhead_info['minimum_cruise_ratio']
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={max_accel} 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}')
 
     # Deactivate input shaper if it is active to get raw movements
     input_shaper = printer.lookup_object('input_shaper', None)
@@ -103,12 +109,17 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
         vibrate_axis(toolhead, gcode, config['direction'], min_freq, max_freq, hz_per_sec, accel_per_hz)
         accelerometer.stop_measurement(config['label'], append_time=True)
 
+    accelerometer.wait_for_file_writes()
+
     # Re-enable the input shaper if it was active
     if input_shaper is not None:
         input_shaper.enable_shaping()
 
     # Restore the previous acceleration values
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr}')
+    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_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_accel}')
 
     # Run post-processing
     ConsoleOutput.print('Belts comparative frequency profile generation...')

shaketune/commands/create_vibrations_profile.py

@@ -59,11 +59,17 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
 
     toolhead_info = toolhead.get_status(systime)
     old_accel = toolhead_info['max_accel']
-    old_mcr = toolhead_info['minimum_cruise_ratio']
     old_sqv = toolhead_info['square_corner_velocity']
 
     # set the wanted acceleration values
-    gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0')
+    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={accel} MINIMUM_CRUISE_RATIO=0 SQUARE_CORNER_VELOCITY=5.0'
+        )
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        old_mcr = None
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={accel} SQUARE_CORNER_VELOCITY=5.0')
 
     kin_info = toolhead.kin.get_status(systime)
     mid_x = (kin_info['axis_minimum'].x + kin_info['axis_maximum'].x) / 2
@@ -90,8 +96,8 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
         k_accelerometer = printer.lookup_object(current_accel_chip, None)
         if k_accelerometer is None:
             raise gcmd.error(f'Accelerometer [{current_accel_chip}] not found!')
-        accelerometer = Accelerometer(k_accelerometer)
         ConsoleOutput.print(f'Accelerometer chip used for this angle: [{current_accel_chip}]')
+        accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
 
         # Sweep the speed range to record the vibrations at different speeds
         for curr_speed_sample in range(nb_speed_samples):
@@ -131,10 +137,15 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
             toolhead.dwell(0.3)
             toolhead.wait_moves()
 
-    # Restore the previous acceleration values
-    gcode.run_script_from_command(
-        f'SET_VELOCITY_LIMIT ACCEL={old_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
-    )
+        accelerometer.wait_for_file_writes()
+
+        # 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_accel} MINIMUM_CRUISE_RATIO={old_mcr} SQUARE_CORNER_VELOCITY={old_sqv}'
+        )
+    else:  # minimum_cruise_ratio not found: Klipper < v0.12.0-239
+        gcode.run_script_from_command(f'SET_VELOCITY_LIMIT ACCEL={old_accel} SQUARE_CORNER_VELOCITY={old_sqv}')
     toolhead.wait_moves()
 
     # Run post-processing

shaketune/commands/excitate_axis_at_freq.py

@@ -41,7 +41,7 @@ def excitate_axis_at_freq(gcmd, config, st_process: ShakeTuneProcess) -> None:
         k_accelerometer = printer.lookup_object(accel_chip, None)
         if k_accelerometer is None:
             raise gcmd.error(f'Accelerometer chip [{accel_chip}] was not found!')
-        accelerometer = Accelerometer(k_accelerometer)
+        accelerometer = Accelerometer(printer.get_reactor(), k_accelerometer)
 
     ConsoleOutput.print(f'Excitating {axis.upper()} axis at {freq}Hz for {duration} seconds')
 
@@ -100,6 +100,7 @@ def excitate_axis_at_freq(gcmd, config, st_process: ShakeTuneProcess) -> None:
     # If the user wanted to create a graph, we stop the recording and generate it
     if create_graph:
         accelerometer.stop_measurement(f'staticfreq_{axis.upper()}', append_time=True)
+        accelerometer.wait_for_file_writes()
 
         creator = st_process.get_graph_creator()
         creator.configure(freq, duration, accel_per_hz)

shaketune/dummy_macros.cfg

@@ -45,15 +45,15 @@ gcode:
 [gcode_macro COMPARE_BELTS_RESPONSES]
 description: dummy
 gcode:
-    {% set freq_start = params.FREQ_START|default(5) %}
-    {% set freq_end = params.FREQ_END|default(133.33) %}
+    {% set freq_start = params.FREQ_START %}
+    {% set freq_end = params.FREQ_END %}
     {% set hz_per_sec = params.HZ_PER_SEC|default(1) %}
     {% set accel_per_hz = params.ACCEL_PER_HZ %}
     {% set travel_speed = params.TRAVEL_SPEED|default(120) %}
     {% set z_height = params.Z_HEIGHT %}
     {% set params_filtered = {
-        "FREQ_START": freq_start,
-        "FREQ_END": freq_end,
+        "FREQ_START": freq_start if freq_start is not none else '',
+        "FREQ_END": freq_end if freq_end is not none else '',
         "HZ_PER_SEC": hz_per_sec,
         "ACCEL_PER_HZ": accel_per_hz if accel_per_hz is not none else '',
         "TRAVEL_SPEED": travel_speed,
@@ -65,8 +65,8 @@ gcode:
 [gcode_macro AXES_SHAPER_CALIBRATION]
 description: dummy
 gcode:
-    {% set freq_start = params.FREQ_START|default(5) %}
-    {% set freq_end = params.FREQ_END|default(133.33) %}
+    {% set freq_start = params.FREQ_START %}
+    {% set freq_end = params.FREQ_END %}
     {% set hz_per_sec = params.HZ_PER_SEC|default(1) %}
     {% set accel_per_hz = params.ACCEL_PER_HZ %}
     {% set axis = params.AXIS|default('all') %}
@@ -75,8 +75,8 @@ gcode:
     {% set travel_speed = params.TRAVEL_SPEED|default(120) %}
     {% set z_height = params.Z_HEIGHT %}
     {% set params_filtered = {
-        "FREQ_START": freq_start,
-        "FREQ_END": freq_end,
+        "FREQ_START": freq_start if freq_start is not none else '',
+        "FREQ_END": freq_end if freq_end is not none else '',
         "HZ_PER_SEC": hz_per_sec,
         "ACCEL_PER_HZ": accel_per_hz if accel_per_hz is not none else '',
         "AXIS": axis,

shaketune/graph_creators/axes_map_graph_creator.py

@@ -7,7 +7,6 @@
 # Description: Implements the axes map detection script for Shake&Tune, including
 #              calibration tools and graph creation for 3D printer vibration analysis.
 
-
 import optparse
 import os
 from datetime import datetime
@@ -194,35 +193,39 @@ def linear_regression_direction(
 
 
 def plot_compare_frequency(
-    ax: plt.Axes, time: np.ndarray, accel_x: np.ndarray, accel_y: np.ndarray, accel_z: np.ndarray, offset: float, i: int
+    ax: plt.Axes,
+    time_data: List[np.ndarray],
+    accel_data: List[Tuple[np.ndarray, np.ndarray, np.ndarray]],
+    offset: float,
+    noise_level: str,
 ) -> None:
     # Plot acceleration data
-    ax.plot(
-        time,
-        accel_x,
-        label='X' if i == 0 else '',
-        color=KLIPPAIN_COLORS['purple'],
-        linewidth=0.5,
-        zorder=50 if i == 0 else 10,
-    )
-    ax.plot(
-        time,
-        accel_y,
-        label='Y' if i == 0 else '',
-        color=KLIPPAIN_COLORS['orange'],
-        linewidth=0.5,
-        zorder=50 if i == 1 else 10,
-    )
-    ax.plot(
-        time,
-        accel_z,
-        label='Z' if i == 0 else '',
-        color=KLIPPAIN_COLORS['red_pink'],
-        linewidth=0.5,
-        zorder=50 if i == 2 else 10,
-    )
+    for i, (time, (accel_x, accel_y, accel_z)) in enumerate(zip(time_data, accel_data)):
+        ax.plot(
+            time,
+            accel_x,
+            label='X' if i == 0 else '',
+            color=KLIPPAIN_COLORS['purple'],
+            linewidth=0.5,
+            zorder=50 if i == 0 else 10,
+        )
+        ax.plot(
+            time,
+            accel_y,
+            label='Y' if i == 0 else '',
+            color=KLIPPAIN_COLORS['orange'],
+            linewidth=0.5,
+            zorder=50 if i == 1 else 10,
+        )
+        ax.plot(
+            time,
+            accel_z,
+            label='Z' if i == 0 else '',
+            color=KLIPPAIN_COLORS['red_pink'],
+            linewidth=0.5,
+            zorder=50 if i == 2 else 10,
+        )
 
-    # Setting axis parameters, grid and graph title
     ax.set_xlabel('Time (s)')
     ax.set_ylabel('Acceleration (mm/s²)')
 
@@ -242,53 +245,52 @@ def plot_compare_frequency(
 
     ax.legend(loc='upper left', prop=fontP)
 
-    # Add gravity offset to the graph
-    if i == 0:
-        ax2 = ax.twinx()  # To split the legends in two box
-        ax2.yaxis.set_visible(False)
-        ax2.plot([], [], ' ', label=f'Measured gravity: {offset / 1000:0.3f} m/s²')
-        ax2.legend(loc='upper right', prop=fontP)
+    # Add the gravity and noise level to the graph legend
+    ax2 = ax.twinx()
+    ax2.yaxis.set_visible(False)
+    ax2.plot([], [], ' ', label=noise_level)
+    ax2.plot([], [], ' ', label=f'Measured gravity: {offset / 1000:0.3f} m/s²')
+    ax2.legend(loc='upper right', prop=fontP)
 
 
 def plot_3d_path(
     ax: plt.Axes,
-    i: int,
-    position_x: np.ndarray,
-    position_y: np.ndarray,
-    position_z: np.ndarray,
-    average_direction_vector: np.ndarray,
-    angle_error: float,
+    position_data: List[Tuple[np.ndarray, np.ndarray, np.ndarray]],
+    direction_vectors: List[np.ndarray],
+    angle_errors: List[float],
 ) -> None:
-    ax.plot(position_x, position_y, position_z, color=KLIPPAIN_COLORS['orange'], linestyle=':', linewidth=2)
-    ax.scatter(position_x[0], position_y[0], position_z[0], color=KLIPPAIN_COLORS['red_pink'], zorder=10)
-    ax.text(
-        position_x[0] + 1,
-        position_y[0],
-        position_z[0],
-        str(i + 1),
-        color='black',
-        fontsize=16,
-        fontweight='bold',
-        zorder=20,
-    )
+    # Plot the 3D path of the movement
+    for i, ((position_x, position_y, position_z), average_direction_vector, angle_error) in enumerate(
+        zip(position_data, direction_vectors, angle_errors)
+    ):
+        ax.plot(position_x, position_y, position_z, color=KLIPPAIN_COLORS['orange'], linestyle=':', linewidth=2)
+        ax.scatter(position_x[0], position_y[0], position_z[0], color=KLIPPAIN_COLORS['red_pink'], zorder=10)
+        ax.text(
+            position_x[0] + 1,
+            position_y[0],
+            position_z[0],
+            str(i + 1),
+            color='black',
+            fontsize=16,
+            fontweight='bold',
+            zorder=20,
+        )
 
-    # Plot the average direction vector
-    start_position = np.array([position_x[0], position_y[0], position_z[0]])
-    end_position = start_position + average_direction_vector * np.linalg.norm(
-        [position_x[-1] - position_x[0], position_y[-1] - position_y[0], position_z[-1] - position_z[0]]
-    )
-    axes = ['X', 'Y', 'Z']
-    ax.plot(
-        [start_position[0], end_position[0]],
-        [start_position[1], end_position[1]],
-        [start_position[2], end_position[2]],
-        label=f'{axes[i]} angle: {angle_error:0.2f}°',
-        color=KLIPPAIN_COLORS['purple'],
-        linestyle='-',
-        linewidth=2,
-    )
+        # Plot the average direction vector
+        start_position = np.array([position_x[0], position_y[0], position_z[0]])
+        end_position = start_position + average_direction_vector * np.linalg.norm(
+            [position_x[-1] - position_x[0], position_y[-1] - position_y[0], position_z[-1] - position_z[0]]
+        )
+        ax.plot(
+            [start_position[0], end_position[0]],
+            [start_position[1], end_position[1]],
+            [start_position[2], end_position[2]],
+            label=f'{["X", "Y", "Z"][i]} angle: {angle_error:0.2f}°',
+            color=KLIPPAIN_COLORS['purple'],
+            linestyle='-',
+            linewidth=2,
+        )
 
-    # Setting axis parameters, grid and graph title
     ax.set_xlabel('X Position (mm)')
     ax.set_ylabel('Y Position (mm)')
     ax.set_zlabel('Z Position (mm)')
@@ -311,14 +313,24 @@ def plot_3d_path(
 
 def format_direction_vector(vectors: List[np.ndarray]) -> str:
     formatted_vector = []
+    axes_count = {'x': 0, 'y': 0, 'z': 0}
+
     for vector in vectors:
         for i in range(len(vector)):
             if vector[i] > 0:
                 formatted_vector.append(MACHINE_AXES[i])
+                axes_count[MACHINE_AXES[i]] += 1
                 break
             elif vector[i] < 0:
                 formatted_vector.append(f'-{MACHINE_AXES[i]}')
+                axes_count[MACHINE_AXES[i]] += 1
                 break
+
+    # Check if all axes are present in the axes_map and return an error message if not
+    for _, count in axes_count.items():
+        if count != 1:
+            return 'unable to determine it correctly!'
+
     return ', '.join(formatted_vector)
 
 
@@ -360,8 +372,12 @@ def axesmap_calibration(
 
     cumulative_start_position = np.array([0, 0, 0])
     direction_vectors = []
+    angle_errors = []
     total_noise_intensity = 0.0
-    for i, machine_axis in enumerate(MACHINE_AXES):
+    acceleration_data = []
+    position_data = []
+    gravities = []
+    for _, machine_axis in enumerate(MACHINE_AXES):
         if machine_axis not in raw_datas:
             raise ValueError(f'Missing CSV file for axis {machine_axis}')
 
@@ -388,15 +404,19 @@ def axesmap_calibration(
             f'Machine axis {machine_axis.upper()} -> nearest accelerometer direction vector: {direction_vector} (angle error: {angle_error:.2f}°)'
         )
         direction_vectors.append(direction_vector)
+        angle_errors.append(angle_error)
 
         total_noise_intensity += noise_intensity
 
-        plot_compare_frequency(ax1, time, accel_x, accel_y, accel_z, gravity, i)
-        plot_3d_path(ax2, i, position_x, position_y, position_z, average_direction_vector, angle_error)
+        acceleration_data.append((time, (accel_x, accel_y, accel_z)))
+        position_data.append((position_x, position_y, position_z))
+        gravities.append(gravity)
 
         # Update the cumulative start position for the next segment
         cumulative_start_position = np.array([position_x[-1], position_y[-1], position_z[-1]])
 
+    gravity = np.mean(gravities)
+
     average_noise_intensity = total_noise_intensity / len(raw_datas)
     if average_noise_intensity <= 350:
         average_noise_intensity_text = '-> OK'
@@ -405,11 +425,25 @@ def axesmap_calibration(
     else:
         average_noise_intensity_text = '-> ERROR: accelerometer noise is too high!'
 
+    average_noise_intensity_label = (
+        f'Dynamic noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
+    )
+    ConsoleOutput.print(average_noise_intensity_label)
+
+    ConsoleOutput.print(f'--> Detected gravity: {gravity / 1000 :.2f} m/s²')
+
     formatted_direction_vector = format_direction_vector(direction_vectors)
     ConsoleOutput.print(f'--> Detected axes_map: {formatted_direction_vector}')
-    ConsoleOutput.print(
-        f'Average accelerometer noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
+
+    # Plot the differents graphs
+    plot_compare_frequency(
+        ax1,
+        [d[0] for d in acceleration_data],
+        [d[1] for d in acceleration_data],
+        gravity,
+        average_noise_intensity_label,
     )
+    plot_3d_path(ax2, position_data, direction_vectors, angle_errors)
 
     # Add title
     title_line1 = 'AXES MAP CALIBRATION TOOL'
@@ -430,9 +464,7 @@ def axesmap_calibration(
     fig.text(0.060, 0.939, title_line2, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
 
     title_line3 = f'| Detected axes_map: {formatted_direction_vector}'
-    title_line4 = f'| Accelerometer noise level: {average_noise_intensity:.2f} mm/s² {average_noise_intensity_text}'
-    fig.text(0.50, 0.985, title_line3, ha='left', va='top', fontsize=14, color=KLIPPAIN_COLORS['dark_purple'])
-    fig.text(0.50, 0.950, title_line4, ha='left', va='top', fontsize=11, color=KLIPPAIN_COLORS['dark_purple'])
+    fig.text(0.50, 0.985, title_line3, ha='left', va='top', fontsize=16, color=KLIPPAIN_COLORS['dark_purple'])
 
     # Adding a small Klippain logo to the top left corner of the figure
     ax_logo = fig.add_axes([0.001, 0.894, 0.105, 0.105], anchor='NW')

shaketune/graph_creators/belts_graph_creator.py

@@ -19,6 +19,7 @@ import matplotlib.font_manager
 import matplotlib.pyplot as plt
 import matplotlib.ticker
 import numpy as np
+from scipy.stats import pearsonr
 
 matplotlib.use('Agg')
 
@@ -296,7 +297,7 @@ def plot_compare_frequency(
 
     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.ticklabel_format(axis='y', style='scientific', scilimits=(0, 0))
     ax.grid(which='major', color='grey')
     ax.grid(which='minor', color='lightgrey')
     fontP = matplotlib.font_manager.FontProperties()
@@ -343,14 +344,12 @@ def plot_versus_belts(
     common_freqs: np.ndarray,
     signal1: SignalData,
     signal2: SignalData,
-    interp_psd1: np.ndarray,
-    interp_psd2: np.ndarray,
     signal1_belt: str,
     signal2_belt: str,
 ) -> None:
     ax.set_title('Cross-belts comparison plot', fontsize=14, color=KLIPPAIN_COLORS['dark_orange'], weight='bold')
 
-    max_psd = max(np.max(interp_psd1), np.max(interp_psd2))
+    max_psd = max(np.max(signal1.psd), np.max(signal2.psd))
     ideal_line = np.linspace(0, max_psd * 1.1, 500)
     green_boundary = ideal_line + (0.35 * max_psd * np.exp(-ideal_line / (0.6 * max_psd)))
     ax.fill_betweenx(ideal_line, ideal_line, green_boundary, color='green', alpha=0.15)
@@ -364,8 +363,8 @@ def plot_versus_belts(
         linewidth=2,
     )
 
-    ax.plot(interp_psd1, interp_psd2, color='dimgrey', marker='o', markersize=1.5)
-    ax.fill_betweenx(interp_psd2, interp_psd1, color=KLIPPAIN_COLORS['red_pink'], alpha=0.1)
+    ax.plot(signal1.psd, signal2.psd, color='dimgrey', marker='o', markersize=1.5)
+    ax.fill_betweenx(signal2.psd, signal1.psd, color=KLIPPAIN_COLORS['red_pink'], alpha=0.1)
 
     paired_peak_count = 0
     unpaired_peak_count = 0
@@ -374,31 +373,27 @@ def plot_versus_belts(
         label = ALPHABET[paired_peak_count]
         freq1 = signal1.freqs[peak1[0]]
         freq2 = signal2.freqs[peak2[0]]
-        nearest_idx1 = np.argmin(np.abs(common_freqs - freq1))
-        nearest_idx2 = np.argmin(np.abs(common_freqs - freq2))
 
-        if nearest_idx1 == nearest_idx2:
-            psd1_peak_value = interp_psd1[nearest_idx1]
-            psd2_peak_value = interp_psd2[nearest_idx1]
-            ax.plot(psd1_peak_value, psd2_peak_value, marker='o', color='black', markersize=7)
+        if abs(freq1 - freq2) < 1:
+            ax.plot(signal1.psd[peak1[0]], signal2.psd[peak2[0]], marker='o', color='black', markersize=7)
             ax.annotate(
                 f'{label}1/{label}2',
-                (psd1_peak_value, psd2_peak_value),
+                (signal1.psd[peak1[0]], signal2.psd[peak2[0]]),
                 textcoords='offset points',
                 xytext=(-7, 7),
                 fontsize=13,
                 color='black',
             )
         else:
-            psd1_peak_value = interp_psd1[nearest_idx1]
-            psd1_on_peak = interp_psd1[nearest_idx2]
-            psd2_peak_value = interp_psd2[nearest_idx2]
-            psd2_on_peak = interp_psd2[nearest_idx1]
-            ax.plot(psd1_on_peak, psd2_peak_value, marker='o', color=KLIPPAIN_COLORS['orange'], markersize=7)
-            ax.plot(psd1_peak_value, psd2_on_peak, marker='o', color=KLIPPAIN_COLORS['purple'], markersize=7)
+            ax.plot(
+                signal1.psd[peak2[0]], signal2.psd[peak2[0]], marker='o', color=KLIPPAIN_COLORS['orange'], markersize=7
+            )
+            ax.plot(
+                signal1.psd[peak1[0]], signal2.psd[peak1[0]], marker='o', color=KLIPPAIN_COLORS['purple'], markersize=7
+            )
             ax.annotate(
                 f'{label}1',
-                (psd1_peak_value, psd2_on_peak),
+                (signal1.psd[peak1[0]], signal2.psd[peak1[0]]),
                 textcoords='offset points',
                 xytext=(0, 7),
                 fontsize=13,
@@ -406,7 +401,7 @@ def plot_versus_belts(
             )
             ax.annotate(
                 f'{label}2',
-                (psd1_on_peak, psd2_peak_value),
+                (signal1.psd[peak2[0]], signal2.psd[peak2[0]]),
                 textcoords='offset points',
                 xytext=(0, 7),
                 fontsize=13,
@@ -415,16 +410,12 @@ def plot_versus_belts(
         paired_peak_count += 1
 
     for _, peak_index in enumerate(signal1.unpaired_peaks):
-        freq1 = signal1.freqs[peak_index]
-        freq2 = signal2.freqs[peak_index]
-        nearest_idx1 = np.argmin(np.abs(common_freqs - freq1))
-        nearest_idx2 = np.argmin(np.abs(common_freqs - freq2))
-        psd1_peak_value = interp_psd1[nearest_idx1]
-        psd2_peak_value = interp_psd2[nearest_idx1]
-        ax.plot(psd1_peak_value, psd2_peak_value, marker='o', color=KLIPPAIN_COLORS['purple'], markersize=7)
+        ax.plot(
+            signal1.psd[peak_index], signal2.psd[peak_index], marker='o', color=KLIPPAIN_COLORS['purple'], markersize=7
+        )
         ax.annotate(
             str(unpaired_peak_count + 1),
-            (psd1_peak_value, psd2_peak_value),
+            (signal1.psd[peak_index], signal2.psd[peak_index]),
             textcoords='offset points',
             fontsize=13,
             weight='bold',
@@ -434,16 +425,12 @@ def plot_versus_belts(
         unpaired_peak_count += 1
 
     for _, peak_index in enumerate(signal2.unpaired_peaks):
-        freq1 = signal1.freqs[peak_index]
-        freq2 = signal2.freqs[peak_index]
-        nearest_idx1 = np.argmin(np.abs(common_freqs - freq1))
-        nearest_idx2 = np.argmin(np.abs(common_freqs - freq2))
-        psd1_peak_value = interp_psd1[nearest_idx1]
-        psd2_peak_value = interp_psd2[nearest_idx1]
-        ax.plot(psd1_peak_value, psd2_peak_value, marker='o', color=KLIPPAIN_COLORS['orange'], markersize=7)
+        ax.plot(
+            signal1.psd[peak_index], signal2.psd[peak_index], marker='o', color=KLIPPAIN_COLORS['orange'], markersize=7
+        )
         ax.annotate(
             str(unpaired_peak_count + 1),
-            (psd1_peak_value, psd2_peak_value),
+            (signal1.psd[peak_index], signal2.psd[peak_index]),
             textcoords='offset points',
             fontsize=13,
             weight='bold',
@@ -459,7 +446,7 @@ def plot_versus_belts(
 
     ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
     ax.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
-    ax.ticklabel_format(axis='y', style='scientific', scilimits=(0, 0))
+    ax.ticklabel_format(style='scientific', scilimits=(0, 0))
     ax.grid(which='major', color='grey')
     ax.grid(which='minor', color='lightgrey')
 
@@ -476,16 +463,21 @@ def plot_versus_belts(
 
 
 # Original Klipper function to get the PSD data of a raw accelerometer signal
-def compute_signal_data(data: np.ndarray, max_freq: float) -> SignalData:
+def compute_signal_data(data: np.ndarray, common_freqs: np.ndarray, max_freq: float) -> SignalData:
     helper = shaper_calibrate.ShaperCalibrate(printer=None)
     calibration_data = helper.process_accelerometer_data(data)
 
     freqs = calibration_data.freq_bins[calibration_data.freq_bins <= max_freq]
     psd = calibration_data.get_psd('all')[calibration_data.freq_bins <= max_freq]
 
-    _, peaks, _ = detect_peaks(psd, freqs, PEAKS_DETECTION_THRESHOLD * psd.max())
+    # Re-interpolate the PSD signal to a common frequency range to be able to plot them one against the other
+    interp_psd = np.interp(common_freqs, freqs, psd)
 
-    return SignalData(freqs=freqs, psd=psd, peaks=peaks)
+    _, peaks, _ = detect_peaks(
+        interp_psd, common_freqs, PEAKS_DETECTION_THRESHOLD * interp_psd.max(), window_size=20, vicinity=15
+    )
+
+    return SignalData(freqs=common_freqs, psd=interp_psd, peaks=peaks)
 
 
 ######################################################################
@@ -517,8 +509,9 @@ def belts_calibration(
     signal2_belt += belt_info.get(signal2_belt, '')
 
     # Compute calibration data for the two datasets with automatic peaks detection
-    signal1 = compute_signal_data(datas[0], max_freq)
-    signal2 = compute_signal_data(datas[1], max_freq)
+    common_freqs = np.linspace(0, max_freq, 500)
+    signal1 = compute_signal_data(datas[0], common_freqs, max_freq)
+    signal2 = compute_signal_data(datas[1], common_freqs, max_freq)
     del datas
 
     # Pair the peaks across the two datasets
@@ -526,18 +519,13 @@ def belts_calibration(
     signal1 = signal1._replace(paired_peaks=pairing_result.paired_peaks, unpaired_peaks=pairing_result.unpaired_peaks1)
     signal2 = signal2._replace(paired_peaks=pairing_result.paired_peaks, unpaired_peaks=pairing_result.unpaired_peaks2)
 
-    # Re-interpolate the PSD signals to a common frequency range to be able to plot them one against the other point by point
-    common_freqs = np.linspace(0, max_freq, 500)
-    interp_psd1 = np.interp(common_freqs, signal1.freqs, signal1.psd)
-    interp_psd2 = np.interp(common_freqs, signal2.freqs, signal2.psd)
-
-    # Calculating R^2 to y=x line to compute the similarity between the two belts
-    ss_res = np.sum((interp_psd2 - interp_psd1) ** 2)
-    ss_tot = np.sum((interp_psd2 - np.mean(interp_psd2)) ** 2)
-    similarity_factor = (1 - (ss_res / ss_tot)) * 100
+    # R² proved to be pretty instable to compute the similarity between the two belts
+    # So now, we use the Pearson correlation coefficient to compute the similarity
+    correlation, _ = pearsonr(signal1.psd, signal2.psd)
+    similarity_factor = correlation * 100
+    similarity_factor = np.clip(similarity_factor, 0, 100)
     ConsoleOutput.print(f'Belts estimated similarity: {similarity_factor:.1f}%')
 
-    # mhi = compute_mhi(similarity_factor, num_peaks, num_unpaired_peaks)
     mhi = compute_mhi(similarity_factor, signal1, signal2)
     ConsoleOutput.print(f'[experimental] Mechanical health: {mhi}')
 
@@ -582,11 +570,11 @@ def belts_calibration(
 
     # Add the accel_per_hz value to the title
     title_line5 = f'| Accel per Hz used: {accel_per_hz} mm/s²/Hz'
-    fig.text(0.55, 0.915, title_line5, ha='left', va='top', fontsize=14, color=KLIPPAIN_COLORS['dark_purple'])
+    fig.text(0.551, 0.915, title_line5, ha='left', va='top', fontsize=10, color=KLIPPAIN_COLORS['dark_purple'])
 
     # Plot the graphs
     plot_compare_frequency(ax1, signal1, signal2, signal1_belt, signal2_belt, max_freq)
-    plot_versus_belts(ax3, common_freqs, signal1, signal2, interp_psd1, interp_psd2, signal1_belt, signal2_belt)
+    plot_versus_belts(ax3, common_freqs, signal1, signal2, signal1_belt, signal2_belt)
 
     # Adding a small Klippain logo to the top left corner of the figure
     ax_logo = fig.add_axes([0.001, 0.894, 0.105, 0.105], anchor='NW')

shaketune/graph_creators/shaper_graph_creator.py

@@ -22,13 +22,14 @@
 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
 import matplotlib.pyplot as plt
 import matplotlib.ticker
 import numpy as np
+from scipy.interpolate import interp1d
 
 matplotlib.use('Agg')
 
@@ -47,7 +48,9 @@ PEAKS_DETECTION_THRESHOLD = 0.05
 PEAKS_EFFECT_THRESHOLD = 0.12
 SPECTROGRAM_LOW_PERCENTILE_FILTER = 5
 MAX_VIBRATIONS = 5.0
-
+MAX_VIBRATIONS_PLOTTED = 80.0
+MAX_VIBRATIONS_PLOTTED_ZOOM = 1.25  # 1.25x max vibs values from the standard filters selection
+SMOOTHING_TESTS = 10  # Number of smoothing values to test (it will significantly increase the computation time)
 KLIPPAIN_COLORS = {
     'purple': '#70088C',
     'orange': '#FF8D32',
@@ -112,15 +115,13 @@ 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 +130,79 @@ 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!'
-        )
-        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'
+            (
+                '[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'
+            )
         )
         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,
+            )
+
+    # 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, SMOOTHING_TESTS)[:-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 shaper.name, all_shapers, calibration_data, fr, zeta, compat
+    return k_shaper_choice.name, all_shapers, additional_all_shapers, calibration_data, fr, zeta, max_smoothing, compat
 
 
 ######################################################################
@@ -164,7 +221,7 @@ 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 +250,40 @@ 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 +296,30 @@ 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 for performance: {perf_shaper_choice.upper()} @ {perf_shaper_freq:.1f} Hz'
+        lowvibr_shaper_string = (
+            f'Recommended for low vibrations: {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 +327,6 @@ 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 +362,7 @@ 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 +415,170 @@ 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(
+                {
+                    'max_accel': shaper.max_accel,
+                    'vibrs': shaper.vibrs * 100.0,
+                }
+            )
+
+    # Extract data from shaper_table_data and insert into shaper_data
+    max_shaper_vibrations = 0
+    for shaper in shaper_table_data['shapers']:
+        shaper_type = shaper['type']
+        if shaper_type not in shaper_data:
+            shaper_data[shaper_type] = []
+        max_shaper_vibrations = max(max_shaper_vibrations, float(shaper['vibrations']) * 100.0)
+        shaper_data[shaper_type].append(
+            {
+                'max_accel': float(shaper['max_accel']),
+                'vibrs': float(shaper['vibrations']) * 100.0,
+            }
+        )
+
+    # Calculate the maximum `max_accel` for points below the thresholds to get a good plot with
+    # continuous lines and a zoom on the graph to show details at low vibrations
+    min_accel_limit = 99999
+    max_accel_limit = 0
+    max_accel_limit_zoom = 0
+    for data in shaper_data.values():
+        min_accel_limit = min(min_accel_limit, min(d['max_accel'] for d in data))
+        max_accel_limit = max(
+            max_accel_limit, max(d['max_accel'] for d in data if d['vibrs'] <= MAX_VIBRATIONS_PLOTTED)
+        )
+        max_accel_limit_zoom = max(
+            max_accel_limit_zoom,
+            max(d['max_accel'] for d in data if d['vibrs'] <= max_shaper_vibrations * MAX_VIBRATIONS_PLOTTED_ZOOM),
+        )
+
+    # Add a zoom axes on the graph to show details at low vibrations
+    zoomed_window = np.clip(max_shaper_vibrations * MAX_VIBRATIONS_PLOTTED_ZOOM, 0, 20)
+    axins = ax.inset_axes(
+        [0.575, 0.125, 0.40, 0.45],
+        xlim=(min_accel_limit * 0.95, max_accel_limit_zoom * 1.1),
+        ylim=(-0.5, zoomed_window),
+    )
+    ax.indicate_inset_zoom(axins, edgecolor=KLIPPAIN_COLORS['purple'], linewidth=3)
+    axins.xaxis.set_minor_locator(matplotlib.ticker.MultipleLocator(500))
+    axins.yaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
+    axins.grid(which='major', color='grey')
+    axins.grid(which='minor', color='lightgrey')
+
+    # Draw the green zone on both axes to highlight the low vibrations zone
+    number_of_interpolated_points = 100
+    x_fill = np.linspace(min_accel_limit * 0.95, max_accel_limit * 1.1, number_of_interpolated_points)
+    y_fill = np.full_like(x_fill, 5.0)
+    ax.axhline(y=5.0, color='black', linestyle='--', linewidth=0.5)
+    ax.fill_between(x_fill, -0.5, y_fill, color='green', alpha=0.15)
+    if zoomed_window > 5.0:
+        axins.axhline(y=5.0, color='black', linestyle='--', linewidth=0.5)
+        axins.fill_between(x_fill, -0.5, y_fill, color='green', alpha=0.15)
+
+    # Plot each shaper remaining vibrations response over acceleration
+    max_vibrations = 0
+    for _, (shaper_type, data) in enumerate(shaper_data.items()):
+        max_accel_values = np.array([d['max_accel'] for d in data])
+        vibrs_values = np.array([d['vibrs'] for d in data])
+
+        # remove duplicate values in max_accel_values and delete the corresponding vibrs_values
+        # and interpolate the curves to get them smoother with more datapoints
+        unique_max_accel_values, unique_indices = np.unique(max_accel_values, return_index=True)
+        max_accel_values = unique_max_accel_values
+        vibrs_values = vibrs_values[unique_indices]
+        interp_func = interp1d(max_accel_values, vibrs_values, kind='cubic')
+        max_accel_fine = np.linspace(max_accel_values.min(), max_accel_values.max(), number_of_interpolated_points)
+        vibrs_fine = interp_func(max_accel_fine)
+
+        ax.plot(max_accel_fine, vibrs_fine, label=f'{shaper_type}', zorder=10)
+        axins.plot(max_accel_fine, vibrs_fine, label=f'{shaper_type}', zorder=15)
+        max_vibrations = max(max_vibrations, max(vibrs_fine))
+
+    ax.set_xlabel('Max Acceleration')
+    ax.set_ylabel('Remaining Vibrations (%)')
+    ax.set_xlim([min_accel_limit * 0.95, max_accel_limit * 1.1])
+    ax.set_ylim([-0.5, np.clip(max_vibrations * 1.05, 50, MAX_VIBRATIONS_PLOTTED)])
+    ax.set_title(
+        'Filters performances over acceleration',
+        fontsize=14,
+        color=KLIPPAIN_COLORS['dark_orange'],
+        weight='bold',
+    )
+    ax.legend(loc='best', 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=[1.130, -0.4, 0.803, 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(
+        0.585,
+        0.235,
+        f'Estimated damping ratio (ζ): {shaper_table_data["damping_ratio"]:.3f}',
+        fontsize=14,
+        color=KLIPPAIN_COLORS['purple'],
+    )
+    if len(shaper_table_data['recommendations']) == 1:
+        fig.text(
+            0.585,
+            0.200,
+            shaper_table_data['recommendations'][0],
+            fontsize=14,
+            color=KLIPPAIN_COLORS['red_pink'],
+        )
+    elif len(shaper_table_data['recommendations']) == 2:
+        fig.text(
+            0.585,
+            0.200,
+            shaper_table_data['recommendations'][0],
+            fontsize=14,
+            color=KLIPPAIN_COLORS['red_pink'],
+        )
+        fig.text(
+            0.585,
+            0.175,
+            shaper_table_data['recommendations'][1],
+            fontsize=14,
+            color=KLIPPAIN_COLORS['red_pink'],
+        )
+
+
 ######################################################################
 # Startup and main routines
 ######################################################################
@@ -375,8 +604,8 @@ 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 +629,31 @@ 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 +664,11 @@ 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 +676,22 @@ 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')
 

shaketune/shaketune.py

@@ -8,6 +8,7 @@
 #              loading of the plugin, and the registration of the tuning commands
 
 
+import importlib
 import os
 from pathlib import Path
 
@@ -29,117 +30,176 @@ from .helpers.console_output import ConsoleOutput
 from .shaketune_config import ShakeTuneConfig
 from .shaketune_process import ShakeTuneProcess
 
+DEFAULT_FOLDER = '~/printer_data/config/ShakeTune_results'
+DEFAULT_NUMBER_OF_RESULTS = 3
+DEFAULT_KEEP_RAW_CSV = False
+DEFAULT_DPI = 150
+DEFAULT_TIMEOUT = 300
+DEFAULT_SHOW_MACROS = True
+ST_COMMANDS = {
+    'EXCITATE_AXIS_AT_FREQ': (
+        'Maintain a specified excitation frequency for a period '
+        'of time to diagnose and locate a source of vibrations'
+    ),
+    'AXES_MAP_CALIBRATION': (
+        'Perform a set of movements to measure the orientation of the accelerometer '
+        'and help you set the best axes_map configuration for your printer'
+    ),
+    'COMPARE_BELTS_RESPONSES': (
+        'Perform a custom half-axis test to analyze and compare the '
+        'frequency profiles of individual belts on CoreXY or CoreXZ printers'
+    ),
+    'AXES_SHAPER_CALIBRATION': 'Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter',
+    'CREATE_VIBRATIONS_PROFILE': (
+        'Run a series of motions to find speed/angle ranges where the printer could be '
+        'exposed to VFAs to optimize your slicer speed profiles and TMC driver parameters'
+    ),
+}
+
 
 class ShakeTune:
     def __init__(self, config) -> None:
-        self._pconfig = config
+        self._config = config
         self._printer = config.get_printer()
+        self._printer.register_event_handler('klippy:connect', self._on_klippy_connect)
+
+        # Check if Shake&Tune is running in DangerKlipper
+        self.IN_DANGER = importlib.util.find_spec('extras.danger_options') is not None
+
+        # Register the console print output callback to the corresponding Klipper function
         gcode = self._printer.lookup_object('gcode')
-
-        res_tester = self._printer.lookup_object('resonance_tester', None)
-        if res_tester is None:
-            config.error('No [resonance_tester] config section found in printer.cfg! Please add one to use Shake&Tune.')
-
-        self.timeout = config.getfloat('timeout', 300, above=0.0)
-        result_folder = config.get('result_folder', default='~/printer_data/config/ShakeTune_results')
-        result_folder_path = Path(result_folder).expanduser() if result_folder else None
-        keep_n_results = config.getint('number_of_results_to_keep', default=3, minval=0)
-        keep_csv = config.getboolean('keep_raw_csv', default=False)
-        show_macros = config.getboolean('show_macros_in_webui', default=True)
-        dpi = config.getint('dpi', default=150, minval=100, maxval=500)
-
-        self._config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
         ConsoleOutput.register_output_callback(gcode.respond_info)
 
-        commands = [
-            (
-                'EXCITATE_AXIS_AT_FREQ',
-                self.cmd_EXCITATE_AXIS_AT_FREQ,
-                'Maintain a specified excitation frequency for a period of time to diagnose and locate a source of vibration',
-            ),
-            (
-                'AXES_MAP_CALIBRATION',
-                self.cmd_AXES_MAP_CALIBRATION,
-                'Perform a set of movements to measure the orientation of the accelerometer and help you set the best axes_map configuration for your printer',
-            ),
-            (
-                'COMPARE_BELTS_RESPONSES',
-                self.cmd_COMPARE_BELTS_RESPONSES,
-                'Perform a custom half-axis test to analyze and compare the frequency profiles of individual belts on CoreXY printers',
-            ),
-            (
-                'AXES_SHAPER_CALIBRATION',
-                self.cmd_AXES_SHAPER_CALIBRATION,
-                'Perform standard axis input shaper tests on one or both XY axes to select the best input shaper filter',
-            ),
-            (
-                'CREATE_VIBRATIONS_PROFILE',
-                self.cmd_CREATE_VIBRATIONS_PROFILE,
-                'Perform a set of movements to measure the orientation of the accelerometer and help you set the best axes_map configuration for your printer',
-            ),
+        self._initialize_config(config)
+        self._register_commands()
+
+    # Initialize the ShakeTune object and its configuration
+    def _initialize_config(self, config) -> None:
+        result_folder = config.get('result_folder', default=DEFAULT_FOLDER)
+        result_folder_path = Path(result_folder).expanduser() if result_folder else None
+        keep_n_results = config.getint('number_of_results_to_keep', default=DEFAULT_NUMBER_OF_RESULTS, minval=0)
+        keep_csv = config.getboolean('keep_raw_csv', default=DEFAULT_KEEP_RAW_CSV)
+        dpi = config.getint('dpi', default=DEFAULT_DPI, minval=100, maxval=500)
+        self._st_config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
+
+        self.timeout = config.getfloat('timeout', 300, above=0.0)
+        self._show_macros = config.getboolean('show_macros_in_webui', default=True)
+
+    # Create the Klipper commands to allow the user to run Shake&Tune's tools
+    def _register_commands(self) -> None:
+        gcode = self._printer.lookup_object('gcode')
+        measurement_commands = [
+            ('EXCITATE_AXIS_AT_FREQ', self.cmd_EXCITATE_AXIS_AT_FREQ, ST_COMMANDS['EXCITATE_AXIS_AT_FREQ']),
+            ('AXES_MAP_CALIBRATION', self.cmd_AXES_MAP_CALIBRATION, ST_COMMANDS['AXES_MAP_CALIBRATION']),
+            ('COMPARE_BELTS_RESPONSES', self.cmd_COMPARE_BELTS_RESPONSES, ST_COMMANDS['COMPARE_BELTS_RESPONSES']),
+            ('AXES_SHAPER_CALIBRATION', self.cmd_AXES_SHAPER_CALIBRATION, ST_COMMANDS['AXES_SHAPER_CALIBRATION']),
+            ('CREATE_VIBRATIONS_PROFILE', self.cmd_CREATE_VIBRATIONS_PROFILE, ST_COMMANDS['CREATE_VIBRATIONS_PROFILE']),
         ]
-        command_descriptions = {name: desc for name, _, desc in commands}
 
-        for name, command, description in commands:
-            gcode.register_command(f'_{name}' if show_macros else name, command, desc=description)
+        # Register Shake&Tune's measurement commands using the official Klipper API (gcode.register_command)
+        # Doing this makes the commands available in Klipper but they are not shown in the web interfaces
+        # and are only available by typing the full name in the console (like all the other Klipper commands)
+        for name, command, description in measurement_commands:
+            gcode.register_command(f'_{name}' if self._show_macros else name, command, desc=description)
 
-        # Load the dummy macros with their description in order to show them in the web interfaces
-        if show_macros:
-            pconfig = self._printer.lookup_object('configfile')
+        # Then, a hack to inject the macros into Klipper's config system in order to show them in the web
+        # interfaces. This is not a good way to do it, but it's the only way to do it for now to get
+        # a good user experience while using Shake&Tune (it's indeed easier to just click a macro button)
+        if self._show_macros:
+            configfile = self._printer.lookup_object('configfile')
             dirname = os.path.dirname(os.path.realpath(__file__))
             filename = os.path.join(dirname, 'dummy_macros.cfg')
             try:
-                dummy_macros_cfg = pconfig.read_config(filename)
+                dummy_macros_cfg = configfile.read_config(filename)
             except Exception as err:
-                raise config.error(f'Cannot load Shake&Tune dummy macro {filename}') from err
+                raise self._config.error(f'Cannot load Shake&Tune dummy macro {filename}') from err
 
             for gcode_macro in dummy_macros_cfg.get_prefix_sections('gcode_macro '):
                 gcode_macro_name = gcode_macro.get_name()
 
-                # Replace the dummy description by the one here (to avoid code duplication and define it in only one place)
+                # Replace the dummy description by the one from ST_COMMANDS (to avoid code duplication and define it in only one place)
                 command = gcode_macro_name.split(' ', 1)[1]
-                description = command_descriptions.get(command, 'Shake&Tune macro')
+                description = ST_COMMANDS.get(command, 'Shake&Tune macro')
                 gcode_macro.fileconfig.set(gcode_macro_name, 'description', description)
 
                 # Add the section to the Klipper configuration object with all its options
-                if not config.fileconfig.has_section(gcode_macro_name.lower()):
-                    config.fileconfig.add_section(gcode_macro_name.lower())
+                if not self._config.fileconfig.has_section(gcode_macro_name.lower()):
+                    self._config.fileconfig.add_section(gcode_macro_name.lower())
                 for option in gcode_macro.fileconfig.options(gcode_macro_name):
                     value = gcode_macro.fileconfig.get(gcode_macro_name, option)
-                    config.fileconfig.set(gcode_macro_name.lower(), option, value)
-
+                    self._config.fileconfig.set(gcode_macro_name.lower(), option, value)
                     # Small trick to ensure the new injected sections are considered valid by Klipper config system
-                    config.access_tracking[(gcode_macro_name.lower(), option.lower())] = 1
+                    self._config.access_tracking[(gcode_macro_name.lower(), option.lower())] = 1
 
                 # Finally, load the section within the printer objects
-                self._printer.load_object(config, gcode_macro_name.lower())
+                self._printer.load_object(self._config, gcode_macro_name.lower())
+
+    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!'
+            )
+
+    # ------------------------------------------------------------------------------------------
+    # ------------------------------------------------------------------------------------------
+    # 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._config)
-        st_process = ShakeTuneProcess(self._config, static_freq_graph_creator, self.timeout)
-        excitate_axis_at_freq(gcmd, self._pconfig, st_process)
+        static_freq_graph_creator = StaticGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            static_freq_graph_creator,
+            self.timeout,
+        )
+        excitate_axis_at_freq(gcmd, self._config, st_process)
 
     def cmd_AXES_MAP_CALIBRATION(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        axes_map_graph_creator = AxesMapGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, axes_map_graph_creator, self.timeout)
-        axes_map_calibration(gcmd, self._pconfig, st_process)
+        axes_map_graph_creator = AxesMapGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            axes_map_graph_creator,
+            self.timeout,
+        )
+        axes_map_calibration(gcmd, self._config, st_process)
 
     def cmd_COMPARE_BELTS_RESPONSES(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        belt_graph_creator = BeltsGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, belt_graph_creator, self.timeout)
-        compare_belts_responses(gcmd, self._pconfig, st_process)
+        belt_graph_creator = BeltsGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            belt_graph_creator,
+            self.timeout,
+        )
+        compare_belts_responses(gcmd, self._config, st_process)
 
     def cmd_AXES_SHAPER_CALIBRATION(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        shaper_graph_creator = ShaperGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, shaper_graph_creator, self.timeout)
-        axes_shaper_calibration(gcmd, self._pconfig, st_process)
+        shaper_graph_creator = ShaperGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            shaper_graph_creator,
+            self.timeout,
+        )
+        axes_shaper_calibration(gcmd, self._config, st_process)
 
     def cmd_CREATE_VIBRATIONS_PROFILE(self, gcmd) -> None:
         ConsoleOutput.print(f'Shake&Tune version: {ShakeTuneConfig.get_git_version()}')
-        vibration_profile_creator = VibrationsGraphCreator(self._config)
-        st_process = ShakeTuneProcess(self._config, vibration_profile_creator, self.timeout)
-        create_vibrations_profile(gcmd, self._pconfig, st_process)
+        vibration_profile_creator = VibrationsGraphCreator(self._st_config)
+        st_process = ShakeTuneProcess(
+            self._st_config,
+            self._printer.get_reactor(),
+            vibration_profile_creator,
+            self.timeout,
+        )
+        create_vibrations_profile(gcmd, self._config, st_process)

shaketune/shaketune_process.py

@@ -8,10 +8,10 @@
 #              vibration analysis processes in separate system processes.
 
 
-import multiprocessing
 import os
 import threading
 import traceback
+from multiprocessing import Process
 from typing import Optional
 
 from .helpers.console_output import ConsoleOutput
@@ -19,11 +19,11 @@ from .shaketune_config import ShakeTuneConfig
 
 
 class ShakeTuneProcess:
-    def __init__(self, config: ShakeTuneConfig, graph_creator, timeout: Optional[float] = None) -> None:
-        self._config = config
+    def __init__(self, st_config: ShakeTuneConfig, reactor, graph_creator, timeout: Optional[float] = None) -> None:
+        self._config = st_config
+        self._reactor = reactor
         self.graph_creator = graph_creator
         self._timeout = timeout
-
         self._process = None
 
     def get_graph_creator(self):
@@ -31,22 +31,32 @@ class ShakeTuneProcess:
 
     def run(self) -> None:
         # Start the target function in a new process (a thread is known to cause issues with Klipper and CANbus due to the GIL)
-        self._process = multiprocessing.Process(
-            target=self._shaketune_process_wrapper, args=(self.graph_creator, self._timeout)
-        )
+        self._process = Process(target=self._shaketune_process_wrapper, args=(self.graph_creator, self._timeout))
         self._process.start()
 
     def wait_for_completion(self) -> None:
-        if self._process is not None:
-            self._process.join()
+        if self._process is None:
+            return  # Nothing to wait for
+        eventtime = self._reactor.monotonic()
+        endtime = eventtime + self._timeout
+        complete = False
+        while eventtime < endtime:
+            eventtime = self._reactor.pause(eventtime + 0.05)
+            if not self._process.is_alive():
+                complete = True
+                break
+        if not complete:
+            self._handle_timeout()
 
     # This function is a simple wrapper to start the Shake&Tune process. It's needed in order to get the timeout
     # as a Timer in a thread INSIDE the Shake&Tune child process to not interfere with the main Klipper process
     def _shaketune_process_wrapper(self, graph_creator, timeout) -> None:
         if timeout is not None:
+            # Add 5 seconds to the timeout for safety. The goal is to avoid the Timer to finish before the
+            # Shake&Tune process is done in case we call the wait_for_completion() function that uses Klipper's reactor.
+            timeout += 5
             timer = threading.Timer(timeout, self._handle_timeout)
             timer.start()
-
         try:
             self._shaketune_process(graph_creator)
         finally:
@@ -58,10 +68,12 @@ class ShakeTuneProcess:
         os._exit(1)  # Forcefully exit the process
 
     def _shaketune_process(self, graph_creator) -> None:
-        # Trying to reduce Shake&Tune process priority to avoid slowing down the main Klipper process
-        # as this could lead to random "Timer too close" errors when already running CANbus, etc...
+        # Reducing Shake&Tune process priority by putting the scheduler into batch mode with low priority. This in order to avoid
+        # slowing down the main Klipper process as this can lead to random "Timer too close" or "Move queue overflow" errors
+        # when also already running CANbus, neopixels and other consumming stuff in Klipper's main process.
         try:
-            os.nice(19)
+            param = os.sched_param(os.sched_get_priority_min(os.SCHED_BATCH))
+            os.sched_setscheduler(0, os.SCHED_BATCH, param)
         except Exception:
             ConsoleOutput.print('Warning: failed reducing Shake&Tune process priority, continuing...')