Finally works
This commit is contained in:
gac-x05la
@@ -38,7 +38,7 @@ from tomcat_bec.devices.aerotech.AerotechAutomation1Enums import (
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os.environ["EPICS_CA_ADDR_LIST"] = "129.129.106.255"
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AA1_IOC_NAME = "X02DA-ES1-SMP1"
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AA1_AXIS_NAME = "ROTY"
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MOTOR_TOL = 1.0
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class AerotechMotor(EpicsMotor):
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""" EpicsMotor extension with additional PVs"""
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@@ -56,6 +56,9 @@ class AerotechAutomation1Test(unittest.TestCase):
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# HIL testing only if there's hardware
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dev = aa1Controller(AA1_IOC_NAME + ":CTRL:", name="aa1")
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dev.wait_for_connection()
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name="mot")
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mot.wait_for_connection()
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mot.motor_enable.set(1, settle_time=0.1).wait()
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cls._isConnected = True
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def test_01_ControllerProxy(self):
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@@ -294,7 +297,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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print(f"Absolute move to {target}, distance: {dist}")
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mot.move(target, wait=True)
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self.assertTrue(
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np.abs(target - mot.position) < 0.1,
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np.abs(target - mot.position) < MOTOR_TOL,
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f"Final position {mot.position} is too far from target {target}",
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)
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@@ -797,7 +800,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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for ii in range(len(positions)):
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mot.move(positions[ii])
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self.assertTrue(
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np.abs(mot.position - positions[ii]) < 1.0,
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np.abs(mot.position - positions[ii]) < MOTOR_TOL,
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f"Expected to reach {positions[ii]}, now is at {mot.position} on step {ii}",
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)
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pso.trigger()
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@@ -894,12 +897,12 @@ class AerotechAutomation1Test(unittest.TestCase):
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if scan_type in ["Pos", "Neg"]:
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mot.move(pos_end)
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self.assertTrue(
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np.abs(mot.position - pos_end) < 1.0,
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np.abs(mot.position - pos_end) < MOTOR_TOL,
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f"Expected to reach {pos_end}, now is at {mot.position} on iteration {ii}",
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)
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mot.move(pos_start)
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self.assertTrue(
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np.abs(mot.position - pos_start) < 1.0,
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np.abs(mot.position - pos_start) < MOTOR_TOL,
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f"Expected to rewind to {pos_start}, now at {mot.position} on iteration {ii}",
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)
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@@ -907,13 +910,13 @@ class AerotechAutomation1Test(unittest.TestCase):
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if ii % 2 == 0:
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mot.move(pos_end, wait=True)
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self.assertTrue(
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np.abs(mot.position - pos_end) < 1.0,
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np.abs(mot.position - pos_end) < MOTOR_TOL,
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f"Expected to reach {pos_end}, now at {mot.position} on iteration {ii}",
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)
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else:
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mot.move(pos_start, wait=True)
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self.assertTrue(
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np.abs(mot.position - pos_start) < 1.0,
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np.abs(mot.position - pos_start) < MOTOR_TOL,
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f"Expected to reach {pos_start}, now at {mot.position} on iteration {ii}",
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)
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@@ -955,14 +958,19 @@ class AerotechAutomation1Test(unittest.TestCase):
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"startpos": 42,
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"scanrange": 180,
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"nrepeat": 13,
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"scandir": "NegPos",
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"scandir": "NEGPOS",
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"npoints": 1300,
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"scanvel": 150,
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"scanacc": 500,
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"accdist": 0.5*150*150/500,
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"psotrigger": "PsoEvent",
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"psoBoundsPos": [0.5*150*150/500, 180],
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"psoBoundsNeg": [0.5*150*150/500, 180]
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}
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tm = jinja2.Template(templatetext)
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text = tm.render(scan=scanconfig)
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# with open("test/tcatSequenceScan.ascript", "w") as text_file:
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# text_file.write(text)
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with open("./tcatSequenceScanRBV.ascript", "w") as text_file:
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text_file.write(text)
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# Throws if IOC is not available or PVs are incorrect
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tsk = aa1Tasks(AA1_IOC_NAME + ":TASK:", name="tsk")
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@@ -987,7 +995,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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time.sleep(1.0)
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npoints_rbv = ddc.nsamples_rbv.value
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self.assertEqual(
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npoints_rbv, 13, f"Expected to record 13 DDC points, got: {npoints_rbv} after script"
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npoints_rbv, 26, f"Expected to record 13 DDC points, got: {npoints_rbv} after script"
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)
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@@ -1,13 +1,18 @@
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// Test program for zig-zag line scanning with PSO window output "enable"
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// signal and DDC synchronized to external trigger input.
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// Test program for simple zig-zag line scanning with PSO window output
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// "enable" signal and DDC synchronized to external trigger input.
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// The file expects external parameter validation
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// The PSO locations arrays are set externally from EPICS PV
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//
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#define DDC_ADDR 0x800000
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#define PSO_ADDR 0x0
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enum ScanType
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Pos = 0
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Neg = 1
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PosNeg = 2
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NegPos = 3
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POS = 0
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NEG = 1
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POSNEG = 2
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NEGPOS = 3
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end
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@@ -15,74 +20,98 @@ program
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//////////////////////////////////////////////////////////////////////////
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// External parameters - USE THEESE
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var $fStartPosition as real = {{ scan.startpos }}
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var $fScanRange as real = $fStartPosition + {{ scan.scanrange }}
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var $fScanRange as real = {{ scan.scanrange }}
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var $iNumRepeat as integer = {{ scan.nrepeat }}
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var $eScanType as ScanType = ScanType.{{ scan.scandir or 'Pos' }}
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var $eScanType as ScanType = ScanType.{{ scan.scandir or 'POS' }}
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var $iNumDdcRead as integer = {{ scan.npoints }}
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var $fVelJog as real = {{ scan.jogvel or 200 }}
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var $fVelScan as real = {{ scan.scanvel }}
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var $fAcceleration = {{ scan.scanacc or 500 }}
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var $fSafeDist = 10.0
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var $fAcceleration = {{ scan.scanacc }}
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var $fAccDistance as real = {{ scan.accdist }}
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var $eDdcTrigger as DriveDataCaptureTrigger = DriveDataCaptureTrigger.{{ scan.psotrigger }}
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//////////////////////////////////////////////////////////////////////////
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// Internal parameters - dont use
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var $axis as axis = ROTY
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var $ii as integer
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var $ii as integer
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var $axisFaults as integer = 0
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var $iDdcSafeSpace as integer = 4096
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// Set acceleration
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SetupAxisRampType($axis, RampType.Linear)
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SetupAxisRampValue($axis,0,$fAcceleration)
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var $fAccDistance as real = 0.5 * $fVelScan * $fVelScan / $fAcceleration + $fSafeDist
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SetupAxisRampValue($axis, 0, $fAcceleration)
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// set the actual scan range
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var $fPosStart as real
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var $fPosEnd as real
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if $eScanType == ScanType.Pos
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if $eScanType == ScanType.POS
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$fPosStart = $fStartPosition - $fAccDistance
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$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
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elseif $eScanType == ScanType.Neg
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elseif $eScanType == ScanType.NEG
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$fPosStart = $fStartPosition + $fAccDistance
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$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
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elseif $eScanType == ScanType.PosNeg
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elseif $eScanType == ScanType.POSNEG
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$fPosStart = $fStartPosition - $fAccDistance
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$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
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elseif $eScanType == ScanType.NegPos
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elseif $eScanType == ScanType.NEGPOS
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$fPosStart = $fStartPosition + $fAccDistance
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$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
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end
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// Move to start position before the scan
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// NOTE: Also wait for GigaFrost to start, otherwise early triggers might be missed
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MoveAbsolute($axis, $fPosStart, $fVelJog)
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WaitForInPosition($axis)
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Dwell(2)
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// Set globals for feedback
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$rglobal[2] = $fPosStart
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$rglobal[3] = $fPosEnd
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// Configure PSO
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// FIXME : When the controller is restarted
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PsoDistanceConfigureInputs($axis, [PsoDistanceInput.XC4PrimaryFeedback])
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PsoDistanceCounterOff($axis)
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PsoDistanceEventsOff($axis)
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PsoWindowConfigureEvents($axis, PsoWindowEventMode.None)
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PsoWaveformOff($axis)
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PsoOutputConfigureSource($axis, PsoOutputSource.Waveform)
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var $iPsoArrayAddr as integer = 0
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var $iPsoArray[] as real = [UnitsToCounts($axis, $fAccDistance), UnitsToCounts($axis, $fScanRange)]
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DriveArrayWrite($axis, $iPsoArray, $iPsoArrayAddr, length($iPsoArray), DriveArrayType.PsoDistanceEventDistances)
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PsoDistanceConfigureArrayDistances($axis, $iPsoArrayAddr, 2, 0)
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// Simple PSO trigger pattern
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var $iPsoArrayPosAddr as integer = PSO_ADDR
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var $iPsoArrayPos[] as real = [{% for psoDist in scan.psoBoundsPos[:-1] %} UnitsToCounts($axis, {{ psoDist }}), {% endfor %} UnitsToCounts($axis, {{ scan.psoBoundsPos[-1] }}) ]
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DriveArrayWrite($axis, $iPsoArrayPos, $iPsoArrayPosAddr, length($iPsoArrayPos), DriveArrayType.PsoDistanceEventDistances)
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{% if scan.psoBoundsNeg|length > 0 %}
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var $iPsoArrayNegAddr as integer = ($iPsoArrayPosAddr + length($iPsoArrayPos)) * 4
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var $iPsoArrayNeg[] as real = [{% for psoDist in scan.psoBoundsNeg[:-1] %} UnitsToCounts($axis, {{ psoDist }}), {% endfor %} UnitsToCounts($axis, {{ scan.psoBoundsNeg[-1] }}) ]
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DriveArrayWrite($axis, $iPsoArrayNeg, $iPsoArrayNegAddr, length($iPsoArrayNeg), DriveArrayType.PsoDistanceEventDistances)
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{% else %}
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var $iPsoArrayNegAddr as integer = ($iPsoArrayPosAddr + length($iPsoArrayPos)) * 4
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var $iPsoArrayNegSize as integer = 0
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var $iPsoArrayNeg[] as real = []
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// DriveArrayWrite($axis, $iPsoArrayNeg, $iPsoArrayNegAddr, length($iPsoArrayNeg), DriveArrayType.PsoDistanceEventDistances)
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{% endif %}
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PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
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PsoDistanceCounterOn($axis)
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PsoDistanceEventsOn($axis)
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PsoWaveformConfigureMode($axis, PsoWaveformMode.Toggle)
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PsoWaveformOn($axis)
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PsoWaveformOn($axis)
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PsoOutputConfigureSource($axis, PsoOutputSource.Waveform)
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// Configure Drive Data Collection
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var $iDdcArrayAddr as integer = 8388608
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var $iDdcArraySize as integer = 5000
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var $iDdcArraySize as integer = $iNumDdcRead
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DriveDataCaptureConfigureInput($axis, 0, DriveDataCaptureInput.PrimaryFeedback);
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DriveDataCaptureConfigureInput($axis, 1, DriveDataCaptureInput.AnalogInput0 );
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DriveDataCaptureConfigureTrigger($axis, 0, DriveDataCaptureTrigger.PsoOutput );
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DriveDataCaptureConfigureTrigger($axis, 1, DriveDataCaptureTrigger.PsoOutput );
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DriveDataCaptureConfigureTrigger($axis, 0, $eDdcTrigger );
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DriveDataCaptureConfigureTrigger($axis, 1, $eDdcTrigger );
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DriveDataCaptureConfigureArray($axis, 0, $iDdcArrayAddr, $iDdcArraySize);
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DriveDataCaptureConfigureArray($axis, 1, $iDdcArrayAddr + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize);
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DriveDataCaptureConfigureArray($axis, 0, DDC_ADDR, $iDdcArraySize);
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DriveDataCaptureConfigureArray($axis, 1, DDC_ADDR + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize);
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// Directly before scan
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PsoDistanceCounterOn($axis)
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@@ -92,41 +121,44 @@ program
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///////////////////////////////////////////////////////////
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// Start the actual scanning
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///////////////////////////////////////////////////////////
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for $ii = 0 to ($iNumRepeat-1)
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PsoDistanceConfigureArrayDistances($axis, $iPsoArrayAddr, 2, 0)
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if $eScanType == ScanType.Pos
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForInPosition($axis)
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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WaitForInPosition($axis)
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elseif $eScanType == ScanType.Neg
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForInPosition($axis)
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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WaitForInPosition($axis)
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elseif $eScanType == ScanType.PosNeg
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if ($ii % 2) == 0
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForInPosition($axis)
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elseif ($ii % 2) == 1
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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WaitForInPosition($axis)
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end
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elseif $eScanType == ScanType.NegPos
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if ($ii % 2) == 0
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForInPosition($axis)
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elseif ($ii % 2) == 1
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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WaitForInPosition($axis)
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end
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if $eScanType == ScanType.POS || $eScanType == ScanType.NEG
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PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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WaitForMotionDone($axis)
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$axisFaults = StatusGetAxisItem($axis, AxisDataSignal.AxisFault)
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if $axisFaults
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TaskSetError(TaskGetIndex(), "AxisFault on axis ROTY")
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end
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elseif $eScanType == ScanType.POSNEG || $eScanType == ScanType.NEGPOS
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for $ii = 0 to ($iNumRepeat-1)
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// Feedback on progress
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$rglobal[4] = $ii
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if ($ii % 2) == 0
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PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
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MoveAbsolute($axis, $fPosEnd, $fVelScan)
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elseif ($ii % 2) == 1
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PsoDistanceConfigureArrayDistances($axis, $iPsoArrayNegAddr, length($iPsoArrayNeg), 0)
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MoveAbsolute($axis, $fPosStart, $fVelScan)
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end
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WaitForMotionDone($axis)
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$axisFaults = StatusGetAxisItem($axis, AxisDataSignal.AxisFault)
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if $axisFaults
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TaskSetError(TaskGetIndex(), "AxisFault on axis ROTY")
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end
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Dwell(0.2)
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end
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Dwell(0.2)
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end
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// Directly after scan
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PsoDistanceCounterOff($axis)
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DriveDataCaptureOff($axis, 0)
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DriveDataCaptureOff($axis, 1)
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// move back to start position
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MoveAbsolute($axis, $fPosStart, $fVelJog)
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WaitForInPosition($axis)
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Dwell(2)
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end
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158
tomcat_bec/tcatSequenceScanRBV.ascript
Normal file
158
tomcat_bec/tcatSequenceScanRBV.ascript
Normal file
@@ -0,0 +1,158 @@
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// Test program for simple zig-zag line scanning with PSO window output
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// "enable" signal and DDC synchronized to external trigger input.
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||||
// The file expects external parameter validation
|
||||
// The PSO locations arrays are set externally from EPICS PV
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||||
//
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#define DDC_ADDR 0x800000
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#define PSO_ADDR 0x0
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enum ScanType
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POS = 0
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NEG = 1
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POSNEG = 2
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NEGPOS = 3
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end
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program
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//////////////////////////////////////////////////////////////////////////
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||||
// External parameters - USE THEESE
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||||
var $fStartPosition as real = 42
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var $fScanRange as real = 180
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var $iNumRepeat as integer = 13
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var $eScanType as ScanType = ScanType.NEGPOS
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var $iNumDdcRead as integer = 1300
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var $fVelJog as real = 200
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var $fVelScan as real = 150
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var $fAcceleration = 500
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var $fAccDistance as real = 22.5
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var $eDdcTrigger as DriveDataCaptureTrigger = DriveDataCaptureTrigger.PsoEvent
|
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||||
//////////////////////////////////////////////////////////////////////////
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||||
// Internal parameters - dont use
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||||
var $axis as axis = ROTY
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||||
var $ii as integer
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||||
var $axisFaults as integer = 0
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var $iDdcSafeSpace as integer = 4096
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||||
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||||
// Set acceleration
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||||
SetupAxisRampType($axis, RampType.Linear)
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SetupAxisRampValue($axis, 0, $fAcceleration)
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||||
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||||
// set the actual scan range
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||||
var $fPosStart as real
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||||
var $fPosEnd as real
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if $eScanType == ScanType.POS
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$fPosStart = $fStartPosition - $fAccDistance
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$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
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elseif $eScanType == ScanType.NEG
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||||
$fPosStart = $fStartPosition + $fAccDistance
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$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
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elseif $eScanType == ScanType.POSNEG
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$fPosStart = $fStartPosition - $fAccDistance
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$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
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elseif $eScanType == ScanType.NEGPOS
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$fPosStart = $fStartPosition + $fAccDistance
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||||
$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
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||||
end
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||||
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||||
// Move to start position before the scan
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||||
// NOTE: Also wait for GigaFrost to start, otherwise early triggers might be missed
|
||||
MoveAbsolute($axis, $fPosStart, $fVelJog)
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WaitForInPosition($axis)
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Dwell(2)
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||||
// Set globals for feedback
|
||||
$rglobal[2] = $fPosStart
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||||
$rglobal[3] = $fPosEnd
|
||||
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||||
// Configure PSO
|
||||
// FIXME : When the controller is restarted
|
||||
PsoDistanceConfigureInputs($axis, [PsoDistanceInput.XC4PrimaryFeedback])
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||||
PsoDistanceCounterOff($axis)
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||||
PsoDistanceEventsOff($axis)
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PsoWindowConfigureEvents($axis, PsoWindowEventMode.None)
|
||||
PsoWaveformOff($axis)
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||||
// Simple PSO trigger pattern
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||||
var $iPsoArrayPosAddr as integer = PSO_ADDR
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||||
var $iPsoArrayPos[] as real = [ UnitsToCounts($axis, 22.5), UnitsToCounts($axis, 180) ]
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||||
DriveArrayWrite($axis, $iPsoArrayPos, $iPsoArrayPosAddr, length($iPsoArrayPos), DriveArrayType.PsoDistanceEventDistances)
|
||||
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||||
|
||||
var $iPsoArrayNegAddr as integer = ($iPsoArrayPosAddr + length($iPsoArrayPos)) * 4
|
||||
var $iPsoArrayNeg[] as real = [ UnitsToCounts($axis, 22.5), UnitsToCounts($axis, 180) ]
|
||||
DriveArrayWrite($axis, $iPsoArrayNeg, $iPsoArrayNegAddr, length($iPsoArrayNeg), DriveArrayType.PsoDistanceEventDistances)
|
||||
|
||||
|
||||
|
||||
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
|
||||
PsoDistanceCounterOn($axis)
|
||||
PsoDistanceEventsOn($axis)
|
||||
|
||||
PsoWaveformConfigureMode($axis, PsoWaveformMode.Toggle)
|
||||
PsoWaveformOn($axis)
|
||||
PsoOutputConfigureSource($axis, PsoOutputSource.Waveform)
|
||||
|
||||
// Configure Drive Data Collection
|
||||
var $iDdcArraySize as integer = $iNumDdcRead
|
||||
|
||||
DriveDataCaptureConfigureInput($axis, 0, DriveDataCaptureInput.PrimaryFeedback);
|
||||
DriveDataCaptureConfigureInput($axis, 1, DriveDataCaptureInput.AnalogInput0 );
|
||||
|
||||
DriveDataCaptureConfigureTrigger($axis, 0, $eDdcTrigger );
|
||||
DriveDataCaptureConfigureTrigger($axis, 1, $eDdcTrigger );
|
||||
|
||||
DriveDataCaptureConfigureArray($axis, 0, DDC_ADDR, $iDdcArraySize);
|
||||
DriveDataCaptureConfigureArray($axis, 1, DDC_ADDR + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize);
|
||||
|
||||
// Directly before scan
|
||||
PsoDistanceCounterOn($axis)
|
||||
DriveDataCaptureOn($axis, 0)
|
||||
DriveDataCaptureOn($axis, 1)
|
||||
|
||||
///////////////////////////////////////////////////////////
|
||||
// Start the actual scanning
|
||||
///////////////////////////////////////////////////////////
|
||||
|
||||
if $eScanType == ScanType.POS || $eScanType == ScanType.NEG
|
||||
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
|
||||
MoveAbsolute($axis, $fPosEnd, $fVelScan)
|
||||
WaitForMotionDone($axis)
|
||||
|
||||
$axisFaults = StatusGetAxisItem($axis, AxisDataSignal.AxisFault)
|
||||
if $axisFaults
|
||||
TaskSetError(TaskGetIndex(), "AxisFault on axis ROTY")
|
||||
end
|
||||
elseif $eScanType == ScanType.POSNEG || $eScanType == ScanType.NEGPOS
|
||||
for $ii = 0 to ($iNumRepeat-1)
|
||||
// Feedback on progress
|
||||
$rglobal[4] = $ii
|
||||
if ($ii % 2) == 0
|
||||
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayPosAddr, length($iPsoArrayPos), 0)
|
||||
MoveAbsolute($axis, $fPosEnd, $fVelScan)
|
||||
elseif ($ii % 2) == 1
|
||||
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayNegAddr, length($iPsoArrayNeg), 0)
|
||||
MoveAbsolute($axis, $fPosStart, $fVelScan)
|
||||
end
|
||||
WaitForMotionDone($axis)
|
||||
|
||||
$axisFaults = StatusGetAxisItem($axis, AxisDataSignal.AxisFault)
|
||||
if $axisFaults
|
||||
TaskSetError(TaskGetIndex(), "AxisFault on axis ROTY")
|
||||
end
|
||||
Dwell(0.2)
|
||||
end
|
||||
end
|
||||
|
||||
// Directly after scan
|
||||
PsoDistanceCounterOff($axis)
|
||||
DriveDataCaptureOff($axis, 0)
|
||||
DriveDataCaptureOff($axis, 1)
|
||||
// move back to start position
|
||||
MoveAbsolute($axis, $fPosStart, $fVelJog)
|
||||
WaitForInPosition($axis)
|
||||
Dwell(2)
|
||||
end
|
||||
Reference in New Issue
Block a user