Merge pull request #138 from Frix-x/develop

v4.1.0

.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
+      - 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/linux_basic.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 +1,34 @@
+CONFIG_LOW_LEVEL_OPTIONS=y
+# CONFIG_MACH_AVR is not set
+# CONFIG_MACH_ATSAM is not set
+# CONFIG_MACH_ATSAMD is not set
+# CONFIG_MACH_LPC176X is not set
+# CONFIG_MACH_STM32 is not set
+# CONFIG_MACH_HC32F460 is not set
+# CONFIG_MACH_RP2040 is not set
+# CONFIG_MACH_PRU is not set
+# CONFIG_MACH_AR100 is not set
+CONFIG_MACH_LINUX=y
+# CONFIG_MACH_SIMU is not set
+CONFIG_BOARD_DIRECTORY="linux"
+CONFIG_CLOCK_FREQ=50000000
+CONFIG_LINUX_SELECT=y
+CONFIG_USB_VENDOR_ID=0x1d50
+CONFIG_USB_DEVICE_ID=0x614e
+CONFIG_USB_SERIAL_NUMBER="12345"
+CONFIG_WANT_GPIO_BITBANGING=y
+CONFIG_WANT_DISPLAYS=y
+CONFIG_WANT_SENSORS=y
+CONFIG_WANT_LIS2DW=y
+CONFIG_WANT_LDC1612=y
+CONFIG_WANT_SOFTWARE_I2C=y
+CONFIG_WANT_SOFTWARE_SPI=y
+CONFIG_NEED_SENSOR_BULK=y
+CONFIG_CANBUS_FREQUENCY=1000000
+CONFIG_INITIAL_PINS=""
+CONFIG_HAVE_GPIO=y
+CONFIG_HAVE_GPIO_ADC=y
+CONFIG_HAVE_GPIO_SPI=y
+CONFIG_HAVE_GPIO_I2C=y
+CONFIG_HAVE_GPIO_HARD_PWM=y
+CONFIG_INLINE_STEPPER_HACK=y

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

@@ -0,0 +1,9 @@
+[mcu]
+serial: /tmp/klipper_host_mcu
+
+[printer]
+kinematics: none
+max_velocity: 300
+max_accel: 300
+
+[shaketune]

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

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

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

@@ -13,10 +13,13 @@ import os
 import time
 from multiprocessing import Process, Queue
 
+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()
@@ -70,16 +73,35 @@ class Accelerometer:
             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():
-            time.sleep(0.1)
+            eventtime = self._reactor.monotonic()
+            self._reactor.pause(eventtime + 0.1)
+
         for proc in self._write_processes:
-            proc.join()
+            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)
@@ -89,9 +95,13 @@ def axes_map_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         input_shaper.enable_shaping()
 
     # 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/axes_shaper_calibration.py

@@ -76,8 +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']
+    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)
@@ -95,7 +99,7 @@ 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()
@@ -117,4 +121,7 @@ def axes_shaper_calibration(gcmd, config, st_process: ShakeTuneProcess) -> None:
         input_shaper.enable_shaping()
 
     # 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}')
+    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

@@ -60,7 +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()
@@ -89,8 +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']
+    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)
@@ -112,7 +116,10 @@ def compare_belts_responses(gcmd, config, st_process: ShakeTuneProcess) -> None:
         input_shaper.enable_shaping()
 
     # 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}')
+    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
@@ -91,7 +97,7 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
         if k_accelerometer is None:
             raise gcmd.error(f'Accelerometer [{current_accel_chip}] not found!')
         ConsoleOutput.print(f'Accelerometer chip used for this angle: [{current_accel_chip}]')
-        accelerometer = Accelerometer(k_accelerometer)
+        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):
@@ -134,9 +140,12 @@ def create_vibrations_profile(gcmd, config, st_process: ShakeTuneProcess) -> Non
         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')
 

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')
 
@@ -210,8 +211,8 @@ def plot_compare_frequency(
     ax: plt.Axes, signal1: SignalData, signal2: SignalData, signal1_belt: str, signal2_belt: str, max_freq: float
 ) -> None:
     # Plot the two belts PSD signals
-    ax.plot(signal1.freqs, signal1.psd, label='Belt ' + signal1_belt, color=KLIPPAIN_COLORS['purple'])
-    ax.plot(signal2.freqs, signal2.psd, label='Belt ' + signal2_belt, color=KLIPPAIN_COLORS['orange'])
+    ax.plot(signal1.freqs, signal1.psd, label='Belt ' + signal1_belt, color=KLIPPAIN_COLORS['orange'])
+    ax.plot(signal2.freqs, signal2.psd, label='Belt ' + signal2_belt, color=KLIPPAIN_COLORS['purple'])
 
     psd_highest_max = max(signal1.psd.max(), signal2.psd.max())
 
@@ -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',
@@ -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/shaketune.py

@@ -29,6 +29,8 @@ from .helpers.console_output import ConsoleOutput
 from .shaketune_config import ShakeTuneConfig
 from .shaketune_process import ShakeTuneProcess
 
+IN_DANGER = False
+
 
 class ShakeTune:
     def __init__(self, config) -> None:
@@ -51,21 +53,31 @@ class ShakeTune:
         self._config = ShakeTuneConfig(result_folder_path, keep_n_results, keep_csv, dpi)
         ConsoleOutput.register_output_callback(gcode.respond_info)
 
-        commands = [
+        # Register Shake&Tune's measurement commands
+        measurement_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',
+                (
+                    'Maintain a specified excitation frequency for a period '
+                    'of time to diagnose and locate a source of vibrations'
+                ),
             ),
             (
                 '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',
+                (
+                    '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',
+                (
+                    'Perform a custom half-axis test to analyze and compare the '
+                    'frequency profiles of individual belts on CoreXY or CoreXZ printers'
+                ),
             ),
             (
                 'AXES_SHAPER_CALIBRATION',
@@ -75,12 +87,14 @@ class ShakeTune:
             (
                 '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',
+                (
+                    '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'
+                ),
             ),
         ]
-        command_descriptions = {name: desc for name, _, desc in commands}
-
-        for name, command, description in commands:
+        command_descriptions = {name: desc for name, _, desc in measurement_commands}
+        for name, command, description in measurement_commands:
             gcode.register_command(f'_{name}' if show_macros else name, command, desc=description)
 
         # Load the dummy macros with their description in order to show them in the web interfaces