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Added utility programs which update motor subsitutions files from

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the values read rom the actual controller
This commit is contained in:
koennecke
2023-02-17 10:45:15 +01:00
parent 3c9932dc18
commit 61290b5e2c
4 changed files with 318 additions and 0 deletions
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56
utils/convertsub.py Executable file
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#!/usr/bin/python
"""
This is a little program which generates soft motor initialisation lines and iocsh morsels
from a motor substitutions file.
Mark Koennecke, December 2019
"""
import sys
import pdb
import os
if len(sys.argv) < 2:
print('Usage:\n\tconvertsub XXXX.substitutions')
sys.exit(1)
subLen = 0
motors = []
port = None
with open(sys.argv[1],'r') as fin:
line = fin.readline()
while line:
line = line.replace(' ','')
line = line.strip('{}')
l = line.split(',')
if line.find('DHLM') > 0: # that is the index discovery line
lowlimidx = l.index('DLLM')
highlimidx = l.index('DHLM')
mresidx = l.index('MRES')
addridx = l.index('ADDR')
prefix = l[0]
subLen = len(l)
portIdx = l.index('PORT')
elif subLen > 0:
l = line.split(',')
if subLen == len(l):
motors.append((l[addridx],l[mresidx],l[lowlimidx],l[highlimidx]))
port = l[portIdx]
else:
pass
line = fin.readline()
print('%d motors found' % len(motors))
fname = os.path.splitext(sys.argv[1])[0] + '.cmd'
out = open(fname,'w')
out.write('motorSimCreateController(\"%s\",%d)\n' % (port, len(motors)+2))
for mot in motors:
mres = float(mot[1])
highlim = int(float(mot[3])/mres)
lowlim = int(float(mot[2])/mres)
out.write('motorSimConfigAxis(\"%s\",%s,%d,%d,0,0)\n' %(port,mot[0],highlim,lowlim))
out.write('dbLoadTemplate(\"$(TOP)/%s\")\n' % (sys.argv[1]))
out.close()
print(fname + ' written')

51
utils/deltatau.py Executable file
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"""
This is some code for communicating with a Delta-Tau PMAC motor
controller as used at SINQ from python. Python 3 is assumed and
tested. We use the ethernet protocol of the Pmac. This code benefits
from the SICS driver for Pmac which in turn benefits from the driver
written by Pete Leicester at Diamond.
Usage: python36 deltatau.py pmachost:port command
Then returns the response for command.
Mark Koennecke, October 2019
"""
import struct
import socket
def packPmacCommand(command):
# 0x40 = VR_DOWNLOAD
# 0xBF = VR_PMAC_GETRESPONSE
buf = struct.pack('BBHHH',0x40,0xBF,0,0,socket.htons(len(command)))
buf = buf + bytes(command,'utf-8')
return buf
def readPmacReply(input):
msg = bytearray()
expectAck = True
while True:
b = input.recv(1)
bint = int.from_bytes(b,byteorder='little')
if bint == 2 or bint == 7: #STX or BELL
expectAck = False
continue
if expectAck and bint == 6: # ACK
return bytes(msg)
else:
if bint == 13 and not expectAck: # CR
return bytes(msg)
else:
msg.append(bint)
if __name__ == "__main__":
from sys import argv
addr = argv[1].split(':')
s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
s.connect((addr[0],int(addr[1])))
buf = packPmacCommand(argv[2])
s.send(buf)
reply = readPmacReply(s)
print(reply.decode('utf-8') + '\n')

110
utils/syncEL734Sub.py Executable file
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#!/usr/bin/env python3
"""
This little program synchronizes an EPICS substitutions file with values read
from the EL734 motor controller. Some research showed that the EPICS motorRecord
seems to have no means of reading configuration data like limits or speeds or such
from the device support. Than it is the easiest to read the data with this small
program and update the substitutions file with it.
Mark Koennecke, January 2023
"""
import socket
import sys
socke = None
sockfd = None
# --------------- communication section
def connect(host, port):
global socke, sockfd
socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# socke.connect(('localhost', 5050))
socke.connect((host, port))
socke.settimeout(2.)
sockfd = socke.makefile(mode='rw', newline='\r')
sockfd.write('RMT 1\r')
sockfd.flush()
sockfd.write('ECHO 0\r')
sockfd.flush()
sockfd.readline()
def transact(command):
global socke, sockfd
sockfd.write(command + '\r')
sockfd.flush()
return sockfd.readline()
def find_commas(rawline):
comma_list = []
for i in range(len(rawline)):
if rawline[i] == ',':
comma_list.append(i)
return comma_list
def pretty_line(newlist, comma_list):
"""
adds spaces to match the tabbing of the pattern line
"""
newline = ''
for item, idx in zip(newlist, comma_list):
length = len(newline) + 1 + len(item)
if length < idx:
newline += ' ' * (idx - length)
newline += item
newline += ','
newline += newlist[-1]
return newline[0:-1]
def fix_line(par_list, index_list):
# import pdb; pdb.set_trace()
addridx = index_list.index('ADDR')
motNo = par_list[addridx]
limits = transact('H ' + motNo)
l = limits.split()
lowidx = index_list.index('DLLM')
par_list[lowidx] = l[0]
highidx = index_list.index('DHLM')
par_list[highidx] = l[1]
speed = transact('J ' + motNo)
vidx = index_list.index('VELO')
par_list[vidx] = speed.strip()
# vidx = index_list.index('VMAX')
# par_list[vidx] = speed.strip()
return par_list
def scan_substitution_file(filename):
index_list = None
# import pdb; pdb.set_trace()
with open(filename, 'r') as fin:
rawline = fin.readline()
while rawline:
line = rawline.replace(' ','')
line = line.strip('{}')
l = line.split(',')
if line.find('DHLM') > 0:
index_list = l
comma_list = find_commas(rawline)
sys.stdout.write(rawline)
elif not index_list:
sys.stdout.write(rawline)
else:
if len(l) == len(index_list):
newlist = fix_line(l, index_list)
# newline = ','.join(newlist)
newline = pretty_line(newlist, comma_list)
sys.stdout.write('{' + newline)
else:
sys.stdout.write(rawline)
rawline = fin.readline()
#------------------ main
if len(sys.argv) < 4:
print('Usage:\n\tsyncEL734sub.py <host> <port> <substitutions-file>\n')
sys.exit(1)
connect(sys.argv[1], int(sys.argv[2]))
scan_substitution_file(sys.argv[3])
socke.close()

101
utils/syncPmacSub.py Executable file
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#!/usr/bin/env python3
"""
This little program synchronizes an EPICS substitutions file with values read
from the delta tau motor controller. Some research showed that the EPICS motorRecord
seems to have no means of reading configuration data like limits or speeds or such
from the device support. Than it is the easiest to read the data with this small
program and update the substitutions file with it.
Mark Koennecke, January 2023
"""
import socket
import sys
from deltatau import packPmacCommand, readPmacReply
socke = None
# --------------- communication section
def connect(host, port):
global socke, sockfd
socke = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# socke.connect(('localhost', 5050))
socke.connect((host, port))
socke.settimeout(1.)
def transact(command):
global socke
data = packPmacCommand(command)
socke.send(data)
reply = readPmacReply(socke)
return reply.decode('utf-8')
def find_commas(rawline):
comma_list = []
for i in range(len(rawline)):
if rawline[i] == ',':
comma_list.append(i)
return comma_list
def pretty_line(newlist, comma_list):
"""
adds spaces to match the tabbing of the patter line
"""
newline = ''
for item, idx in zip(newlist, comma_list):
length = len(newline) + 1 + len(item)
if length < idx:
newline += ' ' * (idx - length)
newline += item
newline += ','
newline += newlist[-1]
return newline[0:-1]
def fix_line(par_list, index_list):
# import pdb; pdb.set_trace()
addridx = index_list.index('ADDR')
motNo = int(par_list[addridx])
lowlim = transact('Q%d14' % motNo)
lowidx = index_list.index('DLLM')
par_list[lowidx] = lowlim.strip()
highlim = transact('Q%d13' % motNo)
highidx = index_list.index('DHLM')
par_list[highidx] = highlim.strip()
return par_list
def scan_substitution_file(filename):
index_list = None
# import pdb; pdb.set_trace()
with open(filename, 'r') as fin:
rawline = fin.readline()
while rawline:
line = rawline.replace(' ','')
line = line.strip('{}')
l = line.split(',')
if line.find('DHLM') > 0:
index_list = l
comma_list = find_commas(rawline)
sys.stdout.write(rawline)
elif not index_list:
sys.stdout.write(rawline)
else:
if len(l) == len(index_list):
newlist = fix_line(l, index_list)
# newline = ','.join(newlist)
newline = pretty_line(newlist, comma_list)
sys.stdout.write('{' + newline + '\n')
else:
sys.stdout.write(rawline)
rawline = fin.readline()
#------------------ main
if len(sys.argv) < 4:
print('Usage:\n\tsyncPmacSub.py <host> <port> <substitutions-file>\n')
sys.exit(1)
connect(sys.argv[1], int(sys.argv[2]))
scan_substitution_file(sys.argv[3])
socke.close()