input_shaper: Define input shapers in a single place in Python code

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>

3 files changed, 174 insertions, 163 deletions

diff --git a/klippy/extras/input_shaper.py b/klippy/extras/input_shaper.py
index 69ac3cde..1d8fe0c7 100644
--- a/klippy/extras/input_shaper.py
+++ b/klippy/extras/input_shaper.py
@@ -5,31 +5,30 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import chelper
+from . import shaper_defs
 
 class InputShaper:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.printer.register_event_handler("klippy:connect", self.connect)
         self.toolhead = None
+        self.shapers = {s.name : s.init_func for s in shaper_defs.INPUT_SHAPERS}
         self.damping_ratio_x = config.getfloat(
-                'damping_ratio_x', 0.1, minval=0., maxval=1.)
+                'damping_ratio_x', shaper_defs.DEFAULT_DAMPING_RATIO,
+                minval=0., maxval=1.)
         self.damping_ratio_y = config.getfloat(
-                'damping_ratio_y', 0.1, minval=0., maxval=1.)
+                'damping_ratio_y', shaper_defs.DEFAULT_DAMPING_RATIO,
+                minval=0., maxval=1.)
         self.shaper_freq_x = config.getfloat('shaper_freq_x', 0., minval=0.)
         self.shaper_freq_y = config.getfloat('shaper_freq_y', 0., minval=0.)
-        ffi_main, ffi_lib = chelper.get_ffi()
-        self.shapers = {None: None
-                , 'zv': ffi_lib.INPUT_SHAPER_ZV
-                , 'zvd': ffi_lib.INPUT_SHAPER_ZVD
-                , 'mzv': ffi_lib.INPUT_SHAPER_MZV
-                , 'ei': ffi_lib.INPUT_SHAPER_EI
-                , '2hump_ei': ffi_lib.INPUT_SHAPER_2HUMP_EI
-                , '3hump_ei': ffi_lib.INPUT_SHAPER_3HUMP_EI}
-        shaper_type = config.get('shaper_type', 'mzv')
-        self.shaper_type_x = config.getchoice(
-                'shaper_type_x', self.shapers, shaper_type)
-        self.shaper_type_y = config.getchoice(
-                'shaper_type_y', self.shapers, shaper_type)
+        self.shaper_type_x = config.get('shaper_type_x', 'mzv').lower()
+        if self.shaper_type_x not in self.shapers:
+            raise config.error(
+                    'Unsupported shaper type: %s' % (self.shaper_type_x,))
+        self.shaper_type_y = config.get('shaper_type_y', 'mzv').lower()
+        if self.shaper_type_y not in self.shapers:
+            raise config.error(
+                    'Unsupported shaper type: %s' % (self.shaper_type_y,))
         self.saved_shaper_freq_x = self.saved_shaper_freq_y = 0.
         self.stepper_kinematics = []
         self.orig_stepper_kinematics = []
@@ -58,18 +57,25 @@ class InputShaper:
         self._set_input_shaper(self.shaper_type_x, self.shaper_type_y,
                                self.shaper_freq_x, self.shaper_freq_y,
                                self.damping_ratio_x, self.damping_ratio_y)
+    def _get_shaper(self, shaper_type, shaper_freq, damping_ratio):
+        if not shaper_freq:
+            return shaper_defs.get_none_shaper()
+        A, T = self.shapers[shaper_type](shaper_freq, damping_ratio)
+        return len(A), A, T
     def _set_input_shaper(self, shaper_type_x, shaper_type_y
                           , shaper_freq_x, shaper_freq_y
                           , damping_ratio_x, damping_ratio_y):
         if (shaper_type_x != self.shaper_type_x
                 or shaper_type_y != self.shaper_type_y):
             self.toolhead.flush_step_generation()
+        n_x, A_x, T_x = self._get_shaper(
+                shaper_type_x, shaper_freq_x, damping_ratio_x)
+        n_y, A_y, T_y = self._get_shaper(
+                shaper_type_y, shaper_freq_y, damping_ratio_y)
         ffi_main, ffi_lib = chelper.get_ffi()
         new_delay = max(
-                ffi_lib.input_shaper_get_step_generation_window(
-                    shaper_type_x, shaper_freq_x, damping_ratio_x),
-                ffi_lib.input_shaper_get_step_generation_window(
-                    shaper_type_y, shaper_freq_y, damping_ratio_y))
+                ffi_lib.input_shaper_get_step_generation_window(n_x, A_x, T_x),
+                ffi_lib.input_shaper_get_step_generation_window(n_y, A_y, T_y))
         self.toolhead.note_step_generation_scan_time(new_delay,
                                                      old_delay=self.old_delay)
         self.old_delay = new_delay
@@ -80,10 +86,8 @@ class InputShaper:
         self.damping_ratio_x = damping_ratio_x
         self.damping_ratio_y = damping_ratio_y
         for sk in self.stepper_kinematics:
-            ffi_lib.input_shaper_set_shaper_params(sk
-                    , shaper_type_x, shaper_type_y
-                    , shaper_freq_x, shaper_freq_y
-                    , damping_ratio_x, damping_ratio_y)
+            ffi_lib.input_shaper_set_shaper_params(
+                    sk, len(A_x), A_x, T_x, len(A_y), A_y, T_y)
     def disable_shaping(self):
         if (self.saved_shaper_freq_x or self.saved_shaper_freq_y) and not (
                 self.shaper_freq_x or self.shaper_freq_y):
@@ -113,35 +117,29 @@ class InputShaper:
         shaper_freq_y = gcmd.get_float(
                 'SHAPER_FREQ_Y', self.shaper_freq_y, minval=0.)
 
-        def parse_shaper(shaper_type_str):
-            shaper_type_str = shaper_type_str.lower()
-            if shaper_type_str not in self.shapers:
-                raise gcmd.error(
-                    "Requested shaper type '%s' is not supported" % (
-                        shaper_type_str))
-            return self.shapers[shaper_type_str]
-
-        shaper_type = gcmd.get('SHAPER_TYPE', None, parser=parse_shaper)
+        shaper_type = gcmd.get('SHAPER_TYPE', None)
         if shaper_type is None:
-            shaper_type_x = gcmd.get('SHAPER_TYPE_X', self.shaper_type_x,
-                                     parser=parse_shaper)
-            shaper_type_y = gcmd.get('SHAPER_TYPE_Y', self.shaper_type_y,
-                                     parser=parse_shaper)
+            shaper_type_x = gcmd.get(
+                    'SHAPER_TYPE_X', self.shaper_type_x).lower()
+            shaper_type_y = gcmd.get(
+                    'SHAPER_TYPE_Y', self.shaper_type_y).lower()
         else:
-            shaper_type_x = shaper_type_y = shaper_type
+            shaper_type_x = shaper_type_y = shaper_type.lower()
+        if shaper_type_x not in self.shapers:
+            raise gcmd.error('Unsupported shaper type: %s' % (shaper_type_x,))
+        if shaper_type_y not in self.shapers:
+            raise gcmd.error('Unsupported shaper type: %s' % (shaper_type_y,))
 
         self._set_input_shaper(shaper_type_x, shaper_type_y,
                                shaper_freq_x, shaper_freq_y,
                                damping_ratio_x, damping_ratio_y)
 
-        id_to_name = {v: n for n, v in self.shapers.items()}
         gcmd.respond_info("shaper_type_x:%s shaper_type_y:%s "
                           "shaper_freq_x:%.3f shaper_freq_y:%.3f "
                           "damping_ratio_x:%.6f damping_ratio_y:%.6f"
-                          % (id_to_name[shaper_type_x],
-                             id_to_name[shaper_type_y],
-                             shaper_freq_x, shaper_freq_y,
-                             damping_ratio_x, damping_ratio_y))
+                          % (self.shaper_type_x, self.shaper_type_y,
+                             self.shaper_freq_x, self.shaper_freq_y,
+                             self.damping_ratio_x, self.damping_ratio_y))
 
 def load_config(config):
     return InputShaper(config)
diff --git a/klippy/extras/shaper_calibrate.py b/klippy/extras/shaper_calibrate.py
index cc0f0593..398ad78e 100644
--- a/klippy/extras/shaper_calibrate.py
+++ b/klippy/extras/shaper_calibrate.py
@@ -4,128 +4,16 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import collections, importlib, logging, math, multiprocessing
+shaper_defs = importlib.import_module('.shaper_defs', 'extras')
 
 MIN_FREQ = 5.
 MAX_FREQ = 200.
 WINDOW_T_SEC = 0.5
 MAX_SHAPER_FREQ = 150.
 
-SHAPER_VIBRATION_REDUCTION=20.
 TEST_DAMPING_RATIOS=[0.075, 0.1, 0.15]
-SHAPER_DAMPING_RATIO = 0.1
 
-######################################################################
-# Input shapers
-######################################################################
-
-InputShaperCfg = collections.namedtuple(
-        'InputShaperCfg', ('name', 'init_func', 'min_freq'))
-
-def get_zv_shaper(shaper_freq, damping_ratio):
-    df = math.sqrt(1. - damping_ratio**2)
-    K = math.exp(-damping_ratio * math.pi / df)
-    t_d = 1. / (shaper_freq * df)
-    A = [1., K]
-    T = [0., .5*t_d]
-    return (A, T)
-
-def get_zvd_shaper(shaper_freq, damping_ratio):
-    df = math.sqrt(1. - damping_ratio**2)
-    K = math.exp(-damping_ratio * math.pi / df)
-    t_d = 1. / (shaper_freq * df)
-    A = [1., 2.*K, K**2]
-    T = [0., .5*t_d, t_d]
-    return (A, T)
-
-def get_mzv_shaper(shaper_freq, damping_ratio):
-    df = math.sqrt(1. - damping_ratio**2)
-    K = math.exp(-.75 * damping_ratio * math.pi / df)
-    t_d = 1. / (shaper_freq * df)
-
-    a1 = 1. - 1. / math.sqrt(2.)
-    a2 = (math.sqrt(2.) - 1.) * K
-    a3 = a1 * K * K
-
-    A = [a1, a2, a3]
-    T = [0., .375*t_d, .75*t_d]
-    return (A, T)
-
-def get_ei_shaper(shaper_freq, damping_ratio):
-    v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
-    df = math.sqrt(1. - damping_ratio**2)
-    K = math.exp(-damping_ratio * math.pi / df)
-    t_d = 1. / (shaper_freq * df)
-
-    a1 = .25 * (1. + v_tol)
-    a2 = .5 * (1. - v_tol) * K
-    a3 = a1 * K * K
-
-    A = [a1, a2, a3]
-    T = [0., .5*t_d, t_d]
-    return (A, T)
-
-def get_2hump_ei_shaper(shaper_freq, damping_ratio):
-    v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
-    df = math.sqrt(1. - damping_ratio**2)
-    K = math.exp(-damping_ratio * math.pi / df)
-    t_d = 1. / (shaper_freq * df)
-
-    V2 = v_tol**2
-    X = pow(V2 * (math.sqrt(1. - V2) + 1.), 1./3.)
-    a1 = (3.*X*X + 2.*X + 3.*V2) / (16.*X)
-    a2 = (.5 - a1) * K
-    a3 = a2 * K
-    a4 = a1 * K * K * K
-
-    A = [a1, a2, a3, a4]
-    T = [0., .5*t_d, t_d, 1.5*t_d]
-    return (A, T)
-
-def get_3hump_ei_shaper(shaper_freq, damping_ratio):
-    v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
-    df = math.sqrt(1. - damping_ratio**2)
-    K = math.exp(-damping_ratio * math.pi / df)
-    t_d = 1. / (shaper_freq * df)
-
-    K2 = K*K
-    a1 = 0.0625 * (1. + 3. * v_tol + 2. * math.sqrt(2. * (v_tol + 1.) * v_tol))
-    a2 = 0.25 * (1. - v_tol) * K
-    a3 = (0.5 * (1. + v_tol) - 2. * a1) * K2
-    a4 = a2 * K2
-    a5 = a1 * K2 * K2
-
-    A = [a1, a2, a3, a4, a5]
-    T = [0., .5*t_d, t_d, 1.5*t_d, 2.*t_d]
-    return (A, T)
-
-def get_shaper_smoothing(shaper, accel=5000, scv=5.):
-    half_accel = accel * .5
-
-    A, T = shaper
-    inv_D = 1. / sum(A)
-    n = len(T)
-    # Calculate input shaper shift
-    ts = sum([A[i] * T[i] for i in range(n)]) * inv_D
-
-    # Calculate offset for 90 and 180 degrees turn
-    offset_90 = offset_180 = 0.
-    for i in range(n):
-        if T[i] >= ts:
-            # Calculate offset for one of the axes
-            offset_90 += A[i] * (scv + half_accel * (T[i]-ts)) * (T[i]-ts)
-        offset_180 += A[i] * half_accel * (T[i]-ts)**2
-    offset_90 *= inv_D * math.sqrt(2.)
-    offset_180 *= inv_D
-    return max(offset_90, offset_180)
-
-# min_freq for each shaper is chosen to have projected max_accel ~= 1500
-INPUT_SHAPERS = [
-    InputShaperCfg('zv', get_zv_shaper, min_freq=21.),
-    InputShaperCfg('mzv', get_mzv_shaper, min_freq=23.),
-    InputShaperCfg('ei', get_ei_shaper, min_freq=29.),
-    InputShaperCfg('2hump_ei', get_2hump_ei_shaper, min_freq=39.),
-    InputShaperCfg('3hump_ei', get_3hump_ei_shaper, min_freq=48.),
-]
+AUTOTUNE_SHAPERS = ['zv', 'mzv', 'ei', '2hump_ei', '3hump_ei']
 
 ######################################################################
 # Frequency response calculation and shaper auto-tuning
@@ -313,12 +201,32 @@ class ShaperCalibrate:
         # The input shaper can only reduce the amplitude of vibrations by
         # SHAPER_VIBRATION_REDUCTION times, so all vibrations below that
         # threshold can be igonred
-        vibrations_threshold = psd.max() / SHAPER_VIBRATION_REDUCTION
+        vibr_threshold = psd.max() / shaper_defs.SHAPER_VIBRATION_REDUCTION
         remaining_vibrations = self.numpy.maximum(
-                vals * psd - vibrations_threshold, 0).sum()
-        all_vibrations = self.numpy.maximum(psd - vibrations_threshold, 0).sum()
+                vals * psd - vibr_threshold, 0).sum()
+        all_vibrations = self.numpy.maximum(psd - vibr_threshold, 0).sum()
         return (remaining_vibrations / all_vibrations, vals)
 
+    def _get_shaper_smoothing(self, shaper, accel=5000, scv=5.):
+        half_accel = accel * .5
+
+        A, T = shaper
+        inv_D = 1. / sum(A)
+        n = len(T)
+        # Calculate input shaper shift
+        ts = sum([A[i] * T[i] for i in range(n)]) * inv_D
+
+        # Calculate offset for 90 and 180 degrees turn
+        offset_90 = offset_180 = 0.
+        for i in range(n):
+            if T[i] >= ts:
+                # Calculate offset for one of the axes
+                offset_90 += A[i] * (scv + half_accel * (T[i]-ts)) * (T[i]-ts)
+            offset_180 += A[i] * half_accel * (T[i]-ts)**2
+        offset_90 *= inv_D * math.sqrt(2.)
+        offset_180 *= inv_D
+        return max(offset_90, offset_180)
+
     def fit_shaper(self, shaper_cfg, calibration_data, max_smoothing):
         np = self.numpy
 
@@ -333,8 +241,9 @@ class ShaperCalibrate:
         for test_freq in test_freqs[::-1]:
             shaper_vibrations = 0.
             shaper_vals = np.zeros(shape=freq_bins.shape)
-            shaper = shaper_cfg.init_func(test_freq, SHAPER_DAMPING_RATIO)
-            shaper_smoothing = get_shaper_smoothing(shaper)
+            shaper = shaper_cfg.init_func(
+                    test_freq, shaper_defs.DEFAULT_DAMPING_RATIO)
+            shaper_smoothing = self._get_shaper_smoothing(shaper)
             if max_smoothing and shaper_smoothing > max_smoothing and best_res:
                 return best_res
             # Exact damping ratio of the printer is unknown, pessimizing
@@ -387,14 +296,16 @@ class ShaperCalibrate:
         # Just some empirically chosen value which produces good projections
         # for max_accel without much smoothing
         TARGET_SMOOTHING = 0.12
-        max_accel = self._bisect(lambda test_accel: get_shaper_smoothing(
+        max_accel = self._bisect(lambda test_accel: self._get_shaper_smoothing(
             shaper, test_accel) <= TARGET_SMOOTHING)
         return max_accel
 
     def find_best_shaper(self, calibration_data, max_smoothing, logger=None):
         best_shaper = None
         all_shapers = []
-        for shaper_cfg in INPUT_SHAPERS:
+        for shaper_cfg in shaper_defs.INPUT_SHAPERS:
+            if shaper_cfg.name not in AUTOTUNE_SHAPERS:
+                continue
             shaper = self.background_process_exec(self.fit_shaper, (
                 shaper_cfg, calibration_data, max_smoothing))
             if logger is not None:
diff --git a/klippy/extras/shaper_defs.py b/klippy/extras/shaper_defs.py
new file mode 100644
index 00000000..611fed16
--- /dev/null
+++ b/klippy/extras/shaper_defs.py
@@ -0,0 +1,102 @@
+# Definitions of the supported input shapers
+#
+# Copyright (C) 2020-2021  Dmitry Butyugin <dmbutyugin@google.com>
+#
+# This file may be distributed under the terms of the GNU GPLv3 license.
+import collections, math
+
+SHAPER_VIBRATION_REDUCTION=20.
+DEFAULT_DAMPING_RATIO = 0.1
+
+InputShaperCfg = collections.namedtuple(
+        'InputShaperCfg', ('name', 'init_func', 'min_freq'))
+
+def get_none_shaper():
+    return ([], [])
+
+def get_zv_shaper(shaper_freq, damping_ratio):
+    df = math.sqrt(1. - damping_ratio**2)
+    K = math.exp(-damping_ratio * math.pi / df)
+    t_d = 1. / (shaper_freq * df)
+    A = [1., K]
+    T = [0., .5*t_d]
+    return (A, T)
+
+def get_zvd_shaper(shaper_freq, damping_ratio):
+    df = math.sqrt(1. - damping_ratio**2)
+    K = math.exp(-damping_ratio * math.pi / df)
+    t_d = 1. / (shaper_freq * df)
+    A = [1., 2.*K, K**2]
+    T = [0., .5*t_d, t_d]
+    return (A, T)
+
+def get_mzv_shaper(shaper_freq, damping_ratio):
+    df = math.sqrt(1. - damping_ratio**2)
+    K = math.exp(-.75 * damping_ratio * math.pi / df)
+    t_d = 1. / (shaper_freq * df)
+
+    a1 = 1. - 1. / math.sqrt(2.)
+    a2 = (math.sqrt(2.) - 1.) * K
+    a3 = a1 * K * K
+
+    A = [a1, a2, a3]
+    T = [0., .375*t_d, .75*t_d]
+    return (A, T)
+
+def get_ei_shaper(shaper_freq, damping_ratio):
+    v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
+    df = math.sqrt(1. - damping_ratio**2)
+    K = math.exp(-damping_ratio * math.pi / df)
+    t_d = 1. / (shaper_freq * df)
+
+    a1 = .25 * (1. + v_tol)
+    a2 = .5 * (1. - v_tol) * K
+    a3 = a1 * K * K
+
+    A = [a1, a2, a3]
+    T = [0., .5*t_d, t_d]
+    return (A, T)
+
+def get_2hump_ei_shaper(shaper_freq, damping_ratio):
+    v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
+    df = math.sqrt(1. - damping_ratio**2)
+    K = math.exp(-damping_ratio * math.pi / df)
+    t_d = 1. / (shaper_freq * df)
+
+    V2 = v_tol**2
+    X = pow(V2 * (math.sqrt(1. - V2) + 1.), 1./3.)
+    a1 = (3.*X*X + 2.*X + 3.*V2) / (16.*X)
+    a2 = (.5 - a1) * K
+    a3 = a2 * K
+    a4 = a1 * K * K * K
+
+    A = [a1, a2, a3, a4]
+    T = [0., .5*t_d, t_d, 1.5*t_d]
+    return (A, T)
+
+def get_3hump_ei_shaper(shaper_freq, damping_ratio):
+    v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
+    df = math.sqrt(1. - damping_ratio**2)
+    K = math.exp(-damping_ratio * math.pi / df)
+    t_d = 1. / (shaper_freq * df)
+
+    K2 = K*K
+    a1 = 0.0625 * (1. + 3. * v_tol + 2. * math.sqrt(2. * (v_tol + 1.) * v_tol))
+    a2 = 0.25 * (1. - v_tol) * K
+    a3 = (0.5 * (1. + v_tol) - 2. * a1) * K2
+    a4 = a2 * K2
+    a5 = a1 * K2 * K2
+
+    A = [a1, a2, a3, a4, a5]
+    T = [0., .5*t_d, t_d, 1.5*t_d, 2.*t_d]
+    return (A, T)
+
+# min_freq for each shaper is chosen to have projected max_accel ~= 1500
+INPUT_SHAPERS = [
+    InputShaperCfg('zv', get_zv_shaper, min_freq=21.),
+    InputShaperCfg('mzv', get_mzv_shaper, min_freq=23.),
+    InputShaperCfg('zvd', get_zvd_shaper, min_freq=29.),
+    InputShaperCfg('ei', get_ei_shaper, min_freq=29.),
+    InputShaperCfg('2hump_ei', get_2hump_ei_shaper, min_freq=39.),
+    InputShaperCfg('3hump_ei', get_3hump_ei_shaper, min_freq=48.),
+]