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This commit is contained in:
Anders Sandstrom
2023-08-04 22:28:37 +02:00
parent ec671f5c76
commit 9c4a37884b
3 changed files with 148 additions and 107 deletions
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ecmc_plugin_motion/Db/ecmcPluginMotion.template
+3 -12
View File
@@ -51,7 +51,6 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Time-Arr"){
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
}
# Axis Enable
@@ -65,7 +64,6 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Ena-Arr"){
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
}
# Axis Enabled
@@ -79,7 +77,6 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-EnaAct-Arr"){
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
}
# Axis Busy
@@ -93,7 +90,6 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Bsy-Arr"){
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
}
# Axis Execute
@@ -107,7 +103,6 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Exe-Arr"){
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
}
# Axis Traj source
@@ -121,7 +116,6 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-TrjSrc-Arr"){
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
}
# Axis Enc source
@@ -135,7 +129,6 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-EncSrc-Arr"){
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
}
# Axis At target
@@ -149,7 +142,6 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-AtTrg-Arr"){
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
}
# Axis Error Id
@@ -157,13 +149,12 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-ErrId-Arr"){
info(asyn:FIFO, "1000")
field(DESC, "Error Id")
field(PINI, "1")
field(DTYP, "asynInt8ArrayIn")
field(DTYP, "asynInt32ArrayIn")
field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.error_arr")
field(FTVL, "CHAR")
field(FTVL, "LONG")
field(NELM, "$(NELM)")
field(SCAN, "I/O Intr")
field(TSE, "0")
field(EGU, "s")
field(TSE, "0")
}
record(bo,"$(P)Plg-Mtn${INDEX}-EnaCmd-RB"){
iocsh/pvs.log
+13 -13
View File
@@ -172,10 +172,10 @@ IOC_TEST:m0-Dom-WC-Zero
IOC_TEST:m0-Dom-WC-Incomplete
IOC_TEST:m0-Dom-WC-Complete
IOC_TEST:m0-Stat-OK
REQMOD:raspberrypi-4952:exit
REQMOD:raspberrypi-4952:MODULES
REQMOD:raspberrypi-4952:VERSIONS
REQMOD:raspberrypi-4952:MOD_VER
REQMOD:raspberrypi-7906:exit
REQMOD:raspberrypi-7906:MODULES
REQMOD:raspberrypi-7906:VERSIONS
REQMOD:raspberrypi-7906:MOD_VER
IOC_TEST:Axis1-Arr-Stat
IOC_TEST:Axis1-PLC-Expr-RB
IOC_TEST:Plg-Mtn0-PosAct-Arr
@@ -245,18 +245,18 @@ IOC_TEST:m0-SlvRsp
IOC_TEST:m0-Dom-WC
IOC_TEST:m0s001-Enc01-LtchRst
IOC_TEST:Axis1-Cmd_
REQMOD:raspberrypi-4952:BaseVersion
REQMOD:raspberrypi-4952:require_VER
REQMOD:raspberrypi-4952:ecmccfg_VER
REQMOD:raspberrypi-4952:asyn_VER
REQMOD:raspberrypi-4952:exprtk_VER
REQMOD:raspberrypi-4952:motor_VER
REQMOD:raspberrypi-4952:ruckig_VER
REQMOD:raspberrypi-4952:ecmc_VER
REQMOD:raspberrypi-7906:BaseVersion
REQMOD:raspberrypi-7906:require_VER
REQMOD:raspberrypi-7906:ecmccfg_VER
REQMOD:raspberrypi-7906:asyn_VER
REQMOD:raspberrypi-7906:exprtk_VER
REQMOD:raspberrypi-7906:motor_VER
REQMOD:raspberrypi-7906:ruckig_VER
REQMOD:raspberrypi-7906:ecmc_VER
IOC_TEST:m0s001-HWType
IOC_TEST:m0s002-HWType
IOC_TEST:Axis1-MsgTxt
REQMOD:raspberrypi-4952:ecmc_plugin_motion_VER
REQMOD:raspberrypi-7906:ecmc_plugin_motion_VER
IOC_TEST:m0s001-Drv01-Stat
IOC_TEST:m0s001-Enc01-Stat
IOC_TEST:m0s001-Stat_
tools/ecmcMotionMainGui.py
+132 -82
View File
@@ -31,27 +31,40 @@ import matplotlib.pyplot as plt
import threading
# List of pv names
pvlist= [ 'BuffSze',
'ElmCnt',
'PosAct-Arr',
'PosSet-Arr',
'PosErr-Arr',
'Time-Arr',
'Ena-Arr',
'EnaAct-Arr',
'Bsy-Arr',
'Exe-Arr',
'TrjSrc-Arr',
'EncSrc-Arr',
'AtTrg-Arr',
'ErrId-Arr',
'Mde-RB',
'Cmd-RB',
'Stat',
'AxCmd-RB',
'SmpHz-RB',
'TrgCmd-RB',
'EnaCmd-RB' ]
pvlist = [ 'BuffSze',
'ElmCnt',
'PosAct-Arr',
'PosSet-Arr',
'PosErr-Arr',
'Time-Arr',
'Ena-Arr',
'EnaAct-Arr',
'Bsy-Arr',
'Exe-Arr',
'TrjSrc-Arr',
'EncSrc-Arr',
'AtTrg-Arr',
'ErrId-Arr',
'Mde-RB',
'Cmd-RB',
'Stat',
'AxCmd-RB',
'SmpHz-RB',
'TrgCmd-RB',
'EnaCmd-RB' ]
pvAnalog = ['PosAct-Arr',
'PosSet-Arr',
'PosErr-Arr',
'ErrId-Arr']
pvBinary = ['Ena-Arr',
'EnaAct-Arr',
'Bsy-Arr',
'Exe-Arr',
'TrjSrc-Arr',
'EncSrc-Arr',
'AtTrg-Arr']
pvmiddlestring='Plg-Mtn'
@@ -66,8 +79,34 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.pvs={}
self.pv_signal_cbs={}
self.data={}
self.plottedLineAnalog={}
self.plottedLineBinary={}
for pv in pvAnalog:
self.plottedLineAnalog[pv] = None
for pv in pvBinary:
self.plottedLineBinary[pv] = None
for data in self.data:
data = None;
data = None
#Set some default plot colours
self.plotColor={}
# Analog
self.plotColor['PosAct-Arr']='g'
self.plotColor['PosSet-Arr']='b'
self.plotColor['PosErr-Arr']='k'
self.plotColor['ErrId-Arr']='r'
# Binary
self.plotColor['Ena-Arr']='b'
self.plotColor['EnaAct-Arr']='c'
self.plotColor['Bsy-Arr']='r'
self.plotColor['Exe-Arr']='m'
self.plotColor['TrjSrc-Arr']='g'
self.plotColor['EncSrc-Arr']='k'
self.plotColor['AtTrg-Arr']='g'
self.offline = False
self.pvPrefixStr = prefix
@@ -111,11 +150,11 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
return
def createWidgets(self):
self.figure = plt.figure()
self.plottedLineSpect = None
self.plottedLineRaw = None
self.axSpect = None
self.figure = plt.figure()
#self.plottedLineAnalog = None
#self.plottedLineBinary = None
self.axAnalog = None
self.axBinary = None
self.canvas = FigureCanvas(self.figure)
self.toolbar = NavigationToolbar(self.canvas, self)
self.pauseBtn = QPushButton(text = 'pause')
@@ -364,7 +403,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.data['PosSet-Arr'] = value
def sig_cb_PosErr_Arr(self,value):
self.data['PosErr-Ar'] = value
self.data['PosErr-Arr'] = value
def sig_cb_Time_Arr(self,value):
if(np.size(value)) > 0:
@@ -613,58 +652,12 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
def plotAll(self):
if self.MtnYDataValid and self.MtnXDataValid:
self.plotData()
self.MtnYDataValid = False
self.RawYDataValid = False
self.plotAnalog()
self.plotBinary()
self.MtnYDataValid = False
self.RawYDataValid = False
###### Plotting
# def plotSpect(self, autozoom=False):
# if self.dataX is None:
# return
# if self.spectY is None:
# return
#
# # create an axis for spectrum
# if self.axSpect is None:
# self.axSpect = self.figure.add_subplot(212)
#
# # plot data
# if self.plottedLineSpect is not None:
# self.plottedLineSpect.remove()
#
# self.plottedLineSpect, = self.axSpect.plot(self.dataX,self.spectY, 'b*-')
# self.axSpect.grid(True)
#
#
# self.axSpect.set_xlabel("Frequency [Hz]")
# self.axSpect.set_ylabel(self.labelSpectY + ' ' +self.unitSpectY)
#
# if autozoom:
# ymin = np.min(self.spectY)
# ymax = np.max(self.spectY)
# # ensure different values
# if ymin == ymax:
# ymin = ymin - 1
# ymax = ymax + 1
# range = ymax - ymin
# ymax += range * 0.1
# ymin -= range * 0.1
# xmin = np.min(self.dataX)
# xmax = np.max(self.dataX)
# if xmin == xmax:
# xmin = xmin - 1
# xmax = xmax + 1
# range = xmax - xmin
# xmax += range * 0.02
# xmin -= range * 0.02
# self.axSpect.set_ylim(ymin,ymax)
# self.axSpect.set_xlim(xmin,xmax)
#
# # refresh canvas
# self.canvas.draw()
# self.axSpect.autoscale(enable=False)
#
def plotData(self, autozoom=False):
def plotAnalog(self, autozoom=False):
if self.data['Time-Arr'] is None:
return
@@ -676,10 +669,18 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.axAnalog = self.figure.add_subplot(211)
# plot data
if self.plottedLineRaw is not None:
self.plottedLineRaw.remove()
self.plottedLineRaw, = self.axAnalog.plot(self.data['Time-Arr'],self.data['PosAct-Arr'], 'b*-')
x = self.data['Time-Arr']
x_len = len(x)
for pv in pvAnalog:
if self.plottedLineAnalog[pv] is not None:
self.plottedLineAnalog[pv].remove()
y = self.data[pv]
y_len=len(y)
if x_len==y_len:
self.plottedLineAnalog[pv], = self.axAnalog.plot(x,y,self.plotColor[pv])
else:
print("Pv length mismatch (Time=" + str(x_len) + "," + pv + "=" + str(y_len) + ")")
self.axAnalog.grid(True)
self.axAnalog.set_xlabel('Time [s]')
self.axAnalog.set_ylabel(self.labelRawY + ' ' + self.unitRawY)
@@ -712,6 +713,55 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.saveBtn.setEnabled(True)
self.axAnalog.autoscale(enable=False)
def plotBinary(self, autozoom=False):
if self.data['Time-Arr'] is None:
return
#if self.data['PosAct-Arr'] is None:
# return
# create an axis
if self.axBinary is None:
self.axBinary = self.figure.add_subplot(212)
# plot data
for pv in pvBinary:
if self.plottedLineBinary[pv] is not None:
self.plottedLineBinary[pv].remove()
self.plottedLineBinary[pv], = self.axBinary.plot(self.data['Time-Arr'],self.data[pv],self.plotColor[pv])
self.axBinary.grid(True)
self.axBinary.set_xlabel('Time [s]')
self.axBinary.set_ylabel(self.labelRawY + ' ' + self.unitRawY)
self.axBinary.set_title(self.title)
if autozoom:
ymin = np.min(self.data['PosAct-Arr'])
ymax = np.max(self.data['PosAct-Arr'])
# ensure different values
if ymin == ymax:
ymin=ymin-1
ymax=ymax+1
range = ymax - ymin
ymax += range * 0.1
ymin -= range * 0.1
xmin = np.min(self.data['Time-Arr'])
xmax = np.max(self.data['Time-Arr'])
if xmin == xmax:
xmin = xmin - 1
xmax = xmax + 1
range = xmax - xmin
xmax += range * 0.02
xmin -= range * 0.02
self.axBinary.set_ylim(ymin,ymax)
self.axBinary.set_xlim(xmin,xmax)
# refresh canvas
self.canvas.draw()
self.allowSave = True
self.saveBtn.setEnabled(True)
self.axBinary.autoscale(enable=False)
def printOutHelp():
print("ecmcMtnMainGui: Plots waveforms of Mtn data (updates on Y data callback). ")
print("python ecmcMtnMainGui.py <prefix> <mtnId>")