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This commit is contained in:
sandst_a
2024-05-02 14:40:24 +02:00
parent 86e2a40745
commit a6a53ddfc0
9 changed files with 933 additions and 37 deletions
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4
GNUmakefile
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@@ -6,7 +6,7 @@ BUILDCLASSES = Linux
ARCH_FILTER = deb10%
# Run 7.0.6 for now
EXCLUDE_VERSIONS+=3 7.0.5 7.0.7
EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
IGNORE_MODULES += asynMotor
IGNORE_MODULES += motorBase
@@ -17,7 +17,7 @@ OPT_CXXFLAGS_YES = -O3
# dependencies
ECmasterECMC_VERSION = v1.1.0
motorECMC_VERSION = 7.0.7-ESS
ecmc_VERSION = v9.0.1_RC1
ecmc_VERSION = 9.5.0
################################################################################
# THIS RELATES TO THE EtherCAT MASTER LIBRARY

1
README.md
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@@ -4,6 +4,7 @@ Plugin designed for commisioning and troubleshooting of motion axes.
Motion data are sampled, buffered and exposed to epics as waveforms.
python3 ecmcMotionMainPyQtGraph.py c6025a-04 0

2
ecmc_plugin_motion/src/ecmcMotionPlg.cpp
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@@ -906,7 +906,7 @@ asynStatus ecmcMotionPlg::writeInt32(asynUser *pasynUser, epicsInt32 value) {
} else if( function == asynAxisId_){
return setAxis(value) > 0 ? asynSuccess : asynError;
} else if( function == asynModeId_){
return setMode((TRIGG_MODE)value) > 0 ? asynSuccess : asynError;
return setMode((TRIGG_MODE)value) == 0 ? asynSuccess : asynError;
} else if( function == asynModeId_){
return setTrigg(value) ? asynSuccess :asynError;
}

8
ecmc_plugin_motion/src/ecmcPluginMotion.c
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@@ -48,10 +48,10 @@ int motionConstruct(char *configStr)
**/
void motionDestruct(void)
{
deleteAllMotionObjs();
if(lastConfStr){
free(lastConfStr);
}
//deleteAllMotionObjs();
//if(lastConfStr){
// free(lastConfStr);
//}
}
/** Optional function.

10
tools/README.md
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@@ -1,8 +1,2 @@
# FFT tools
## GUI
A python gui for vizualization and control of the FFT plugin can be found in the ecmccomgui repo:
https://github.com/anderssandstrom/ecmccomgui
![ecmcFFTMainGui.py](docs/gui/ecmcFFTMainGui.png)
# Tool for visualization
python3 ecmcMotionMainPyQtGraph.py c6025a-04 0

8
tools/ecmcMotionMainGui.py
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@@ -166,12 +166,14 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.pauseBtn.setFixedSize(100, 50)
self.pauseBtn.clicked.connect(self.pauseBtnAction)
self.pauseBtn.setStyleSheet("background-color: green")
self.openBtn = QPushButton(text = 'open data')
self.openBtn = QPushButton(text = 'open data')
self.openBtn.setFixedSize(100, 50)
self.openBtn.setEnabled(False) # Not yet supported
self.openBtn.clicked.connect(self.openBtnAction)
self.saveBtn = QPushButton(text = 'save data')
self.saveBtn.setFixedSize(100, 50)
self.saveBtn.clicked.connect(self.saveBtnAction)
self.saveBtn.setEnabled(False) # Not yet supported
self.enableBtn = QPushButton(text = 'enable Mtn')
self.enableBtn.setFixedSize(100, 50)
self.enableBtn.clicked.connect(self.enableBtnAction)
@@ -181,11 +183,13 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.zoomBtn = QPushButton(text = 'auto zoom')
self.zoomBtn.setFixedSize(100, 50)
self.zoomBtn.clicked.connect(self.zoomBtnAction)
self.zoomBtn.setEnabled(False) # Not yet supported
self.modeCombo = QComboBox()
self.modeCombo.setFixedSize(100, 50)
self.modeCombo.currentIndexChanged.connect(self.newModeIndexChanged)
self.modeCombo.addItem("CONT")
self.modeCombo.addItem("TRIGG")
self.modeCombo.addItem("TRIGG"
self.modeCombo.setEnabled(False)) # Not yet supported
self.progressBar = QProgressBar()
self.progressBar.reset()
self.progressBar.setMinimum(0)

89
tools/ecmcMotionMainPyQtGraph.py
View File

@@ -24,8 +24,12 @@ import pyqtgraph as pg
from ecmcPvDataItem import *
from ecmcParseAxisStatusWord import *
import os
# Allow buffering of 10s data, need to add setting for this
xMaxTime = 10
caqtdmAxisExpertPanelName = "ecmcAxisExpert_v1.ui"
caqtdmExe ="/usr/local/bin/caqtdm"
# List of pv names
pvlist = [ 'BuffSze',
@@ -58,14 +62,12 @@ pvAnalog = ['PosAct-Arr',
'Stat-Arr']
pvAnaPLotsDefaultEnabled = ['PosAct-Arr',
'PosSet-Arr',
'PosErr-Arr']
'PosSet-Arr']
pvBinPLotsDefaultEnabled = ['enable',
'enabled',
'busy',
'attarget',
'moving']
'attarget']
pvBinBlock = ['instartup',
'inrealtime',
'axisType',
@@ -83,7 +85,7 @@ pvFistAxisIndexName = 'MCU-Cfg-AX-FrstObjId'
pvNextAxisIndexNamePart1 = 'MCU-Cfg-AX'
pvNextAxisIndexNamePart2 = '-NxtObjId'
pvmiddlestring='Plg-Mtn'
pvmiddlestring=':Plg-Mtn'
class ecmcMtnMainGui(QtWidgets.QDialog):
def __init__(self,prefix="IOC_TEST:",mtnPluginId=0):
@@ -188,7 +190,8 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
# Check connection and read sample rate
pvSampleRate = epics.PV(self.pvPrefixStr + pvmiddlestring + str(int(self.mtnPluginId))+ '-SmpHz-RB')
connected = pvSampleRate.wait_for_connection(timeout = 2)
print(self.pvPrefixStr + pvmiddlestring + str(int(self.mtnPluginId))+ '-SmpHz-RB')
connected = pvSampleRate.wait_for_connection(timeout = 3)
if connected:
print('Connected to ecmc')
self.offline = False
@@ -200,7 +203,8 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
else:
print('Not Connected')
self.offline = True
self.pause = True
self.pause = True
self.sampleRate = 1000
self.sampleRateValid = True
@@ -242,37 +246,58 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.plotItemBinary.setFixedHeight(150)
self.plotItemBinary.setMouseEnabled(y=False)
self.plotItemBinary.setLabel('bottom', 'Time [s]')
self.pauseBtn = QPushButton(text = 'pause')
self.pauseBtn.setFixedSize(100, 50)
self.pauseBtn.clicked.connect(self.pauseBtnAction)
self.pauseBtn.setStyleSheet("background-color: green")
#self.pauseBtn.setEnabled(False)
#self.pauseBtn.setVisible(False)
self.openBtn = QPushButton(text = 'open data')
self.openBtn.setFixedSize(100, 50)
self.openBtn.clicked.connect(self.openBtnAction)
self.openBtn.setEnabled(False)
self.openBtn.setVisible(False)
self.saveBtn = QPushButton(text = 'save data')
self.saveBtn.setFixedSize(100, 50)
self.saveBtn.clicked.connect(self.saveBtnAction)
self.saveBtn.setEnabled(False)
self.saveBtn.setVisible(False)
self.enableBtn = QPushButton(text = 'enable Mtn')
self.enableBtn.setFixedSize(100, 50)
self.enableBtn.clicked.connect(self.enableBtnAction)
self.triggBtn = QPushButton(text = 'trigg Mtn')
self.triggBtn.setFixedSize(100, 50)
self.triggBtn.setEnabled(False)
self.triggBtn.setVisible(False)
self.triggBtn.clicked.connect(self.triggBtnAction)
self.zoomBtn = QPushButton(text = 'auto zoom')
self.zoomBtn.setFixedSize(100, 50)
self.zoomBtn.clicked.connect(self.zoomBtnAction)
self.zoomBtn.setEnabled(False)
self.zoomBtn.setVisible(False)
self.modeCombo = QComboBox()
self.modeCombo.setFixedSize(100, 50)
self.modeCombo.currentIndexChanged.connect(self.newModeIndexChanged)
self.modeCombo.addItem("CONT")
self.modeCombo.addItem("TRIGG")
self.modeCombo.setEnabled(False)
self.modeCombo.setVisible(False)
self.progressBar = QProgressBar()
self.progressBar.reset()
self.progressBar.setMinimum(0)
self.progressBar.setMaximum(100) #100%
self.progressBar.setValue(0)
self.progressBar.setFixedHeight(20)
self.progressBar.setEnabled(False)
self.progressBar.setVisible(False)
# Fix layout
self.setGeometry(300, 300, 1200, 900)
@@ -367,17 +392,23 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
frameMotion = QFrame(self)
layoutMotionGrid = QGridLayout()
frameMotion.setLayout(layoutMotionGrid)
self.btnMotorRecord = QPushButton(text = 'Motor Record')
self.btnMotorRecord.clicked.connect(self.openMotorRecordPanel)
self.btnMotorRecord.setFixedSize(100, 50)
self.btnMotorRecord.setFixedSize(150, 50)
layoutMotionGrid.addWidget(self.btnMotorRecord,0,0)
self.btnCaQTDmAxisExpert = QPushButton(text = 'caqtdm ecmc Axis')
self.btnCaQTDmAxisExpert.clicked.connect(self.openCaQTDmAxisExpert)
self.btnCaQTDmAxisExpert.setFixedSize(150, 50)
layoutMotionGrid.addWidget(self.btnCaQTDmAxisExpert,1,0)
label = QLabel('Axis id:')
self.cmbBxSelectAxis = QComboBox()
self.cmbBxSelectAxis.currentIndexChanged.connect(self.changeAxisIndex)
layoutMotionGrid.addWidget(label,1,0)
layoutMotionGrid.addWidget(self.cmbBxSelectAxis,1,1)
layoutMotionGrid.addWidget(label,2,0)
layoutMotionGrid.addWidget(self.cmbBxSelectAxis,2,1)
layoutVertMain.addWidget(frameMotion)
@@ -432,10 +463,14 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
QCoreApplication.processEvents()
def sig_cb_PosAct_Arr(self,value):
if self.pause:
return
if(np.size(value)) > 0:
self.MtnYDataValid = True
def sig_cb_Time_Arr(self,value):
if self.pause:
return
if(np.size(value)) > 0:
self.MtnXDataValid = True
self.plotAll()
@@ -467,13 +502,13 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
if id >= 0:
self.cmbBxSelectAxis.setCurrentIndex(id)
axisPrefixPvName = self.pvPrefixStr + pvAxisPrefixNamePart1 + str(int(value)) + pvAxisPrefixNamePart2
axisPrefixPvName = self.pvPrefixStr + ":" + pvAxisPrefixNamePart1 + str(int(value)) + pvAxisPrefixNamePart2
prefixPV = epics.PV(axisPrefixPvName)
axisPrefix = prefixPV.get()
if axisPrefix is not None:
self.axisPrefix = axisPrefix
self.axisPrefix = axisPrefix.rstrip(':')
axisNamePvName = self.pvPrefixStr + pvAxisNamePart1 + str(int(value)) + pvAxisNamePart2
axisNamePvName = self.pvPrefixStr + ":" + pvAxisNamePart1 + str(int(value)) + pvAxisNamePart2
namePV = epics.PV(axisNamePvName)
axisName = namePV.get()
if axisName is not None:
@@ -488,6 +523,8 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
return
def sig_cb_Stat_Arr(self,value):
if self.pause:
return
data = self.parseAxisStatWd.convert(value)
self.addStatWdData(data)
@@ -521,7 +558,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.plotBinary()
def readAxisList(self):
axIdPV = epics.PV(self.pvPrefixStr + pvFistAxisIndexName)
axIdPV = epics.PV(self.pvPrefixStr + ":" + pvFistAxisIndexName)
axId = axIdPV.get()
if axId is None:
print('ERROR: First Axis Index PV not found.')
@@ -532,7 +569,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
while axId >= 0:
# Get next axis id
pvName = self.pvPrefixStr + pvNextAxisIndexNamePart1 + str(int(axId)) + pvNextAxisIndexNamePart2
pvName = self.pvPrefixStr + ":" + pvNextAxisIndexNamePart1 + str(int(axId)) + pvNextAxisIndexNamePart2
axIdPV = epics.PV(pvName)
axId = axIdPV.get()
@@ -544,10 +581,22 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.pvItems['AxCmd-RB'].pvPut(self.cmbBxSelectAxis.currentData(), use_complete=True)
def openMotorRecordPanel(self,xxx):
self.dialog = MotorPanel(self,self.axisPrefix ,self.axisName)
self.dialog.resize(500, 900)
self.dialog = MotorPanel(self,self.axisPrefix + ':' ,self.axisName)
self.dialog.resize(500, 900)
self.dialog.show()
def openCaQTDmAxisExpert(self,xxx):
# caqtdm -macro "IOC=$I,SYS=$S,Axis=$A" ecmcAxisExpert_v1.ui
caqtdmString = caqtdmExe + " -macro "
caqtdmMacros = "SYS=" + self.axisPrefix
caqtdmMacros += ",IOC=" + self.axisPrefix
caqtdmMacros += ",Axis=" + self.axisName
caqtdmString+= "\"" + caqtdmMacros + "\"" + " " + caqtdmAxisExpertPanelName
print(caqtdmString)
#subprocess.call(caqtdmString)
os.system(caqtdmString)
###### Widget callbacks
def pauseBtnAction(self):
self.pause = not self.pause
@@ -815,9 +864,9 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
def printOutHelp():
print("ecmcMtnMainGui: Plots waveforms of Mtn data (updates on Y data callback). ")
print("python ecmcMtnMainGui.py <prefix> <mtnId>")
print("<prefix>: Ioc prefix ('IOC_TEST:')")
print("<prefix>: Ioc prefix ('IOC_TEST')")
print("<mtnId> : Id of mtn plugin ('0')")
print("example : python ecmcMotionMainGui.py 'IOC_TEST:' '0'")
print("example : python ecmcMotionMainGui.py 'IOC_TEST' '0'")
print("Will connect to Pvs: <prefix>Plg-Mtn<mtnId>-*")
if __name__ == "__main__":

848
tools/old/ecmcMotionMainGui.py Normal file
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@@ -0,0 +1,848 @@
#*************************************************************************
# Copyright (c) 2020 European Spallation Source ERIC
# ecmc is distributed subject to a Software License Agreement found
# in file LICENSE that is included with this distribution.
#
# ecmcMtnMainGui.py
#
# Created on: October 6, 2020
# Author: Anders Sandström
#
# Plots two waveforms (x vs y) updates for each callback on the y-pv
#
#*************************************************************************
import sys
import os
import epics
from PyQt5.QtWidgets import *
from PyQt5 import QtWidgets
from PyQt5.QtCore import *
from PyQt5.QtGui import *
import numpy as np
import matplotlib
matplotlib.use("Qt5Agg")
from matplotlib.figure import Figure
from matplotlib.animation import TimedAnimation
from matplotlib.lines import Line2D
from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT as NavigationToolbar
import matplotlib.pyplot as plt
import threading
# Allow buffering of 10s data, need to add setting for this
xMaxTime = 10
# 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' ]
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'
class comSignal(QObject):
data_signal = pyqtSignal(object)
class ecmcMtnMainGui(QtWidgets.QDialog):
def __init__(self,prefix=None,mtnPluginId=None):
super(ecmcMtnMainGui, self).__init__()
self.pvnames = {}
self.pvs = {}
self.pv_signal_cbs = {}
self.data = {}
self.datalength = {}
self.plottedLineAnalog = {}
self.plottedLineBinary = {}
for pv in pvAnalog:
self.plottedLineAnalog[pv] = None
for pv in pvBinary:
self.plottedLineBinary[pv] = None
for pv in pvlist:
self.data[pv] = None
self.datalength[pv] = 0
#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']='y'
self.plotColor['EncSrc-Arr']='k'
self.plotColor['AtTrg-Arr']='g'
self.offline = False
self.pvPrefixStr = prefix
self.pvPrefixOrigStr = prefix # save for restore after open datafile
self.mtnPluginId = mtnPluginId
self.mtnPluginOrigId = mtnPluginId
self.allowSave = False
self.path = '.'
self.unitAnalogY = "[]"
self.unitBinaryY = "[]"
self.labelBinaryY = "Binary"
self.labelAnalogY = "Analog"
self.title = ""
#self.NMtn = 1024
self.sampleRate = 1000
self.sampleRateValid = False
self.MtnYDataValid = False
self.MtnXDataValid = False
if prefix is None or mtnPluginId is None:
self.offline = True
self.pause = True
self.data['EnaCmd-RB'] = False
else:
#Check for connection else go offline
self.buildPvNames()
connected = self.pvs['BuffSze'].wait_for_connection(timeout=2)
if connected:
self.offline = False
self.pause = False
else:
self.offline = True
self.pause = True
self.data['EnaCmd-RB'] = False
self.startupDone=False
self.pause = 0
self.createWidgets()
self.setStatusOfWidgets()
self.resize(1000,850)
return
def createWidgets(self):
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')
self.pauseBtn.setFixedSize(100, 50)
self.pauseBtn.clicked.connect(self.pauseBtnAction)
self.pauseBtn.setStyleSheet("background-color: green")
self.openBtn = QPushButton(text = 'open data')
self.openBtn.setFixedSize(100, 50)
self.openBtn.clicked.connect(self.openBtnAction)
self.saveBtn = QPushButton(text = 'save data')
self.saveBtn.setFixedSize(100, 50)
self.saveBtn.clicked.connect(self.saveBtnAction)
self.enableBtn = QPushButton(text = 'enable Mtn')
self.enableBtn.setFixedSize(100, 50)
self.enableBtn.clicked.connect(self.enableBtnAction)
self.triggBtn = QPushButton(text = 'trigg Mtn')
self.triggBtn.setFixedSize(100, 50)
self.triggBtn.clicked.connect(self.triggBtnAction)
self.zoomBtn = QPushButton(text = 'auto zoom')
self.zoomBtn.setFixedSize(100, 50)
self.zoomBtn.clicked.connect(self.zoomBtnAction)
self.modeCombo = QComboBox()
self.modeCombo.setFixedSize(100, 50)
self.modeCombo.currentIndexChanged.connect(self.newModeIndexChanged)
self.modeCombo.addItem("CONT")
self.modeCombo.addItem("TRIGG")
self.progressBar = QProgressBar()
self.progressBar.reset()
self.progressBar.setMinimum(0)
self.progressBar.setMaximum(100) #100%
self.progressBar.setValue(0)
self.progressBar.setFixedHeight(20)
# Fix layout
self.setGeometry(300, 300, 900, 700)
layoutVert = QVBoxLayout()
layoutVert.addWidget(self.toolbar)
layoutVert.addWidget(self.canvas)
layoutControl = QHBoxLayout()
layoutControl.addWidget(self.pauseBtn)
layoutControl.addWidget(self.enableBtn)
layoutControl.addWidget(self.triggBtn)
layoutControl.addWidget(self.modeCombo)
layoutControl.addWidget(self.zoomBtn)
layoutControl.addWidget(self.saveBtn)
layoutControl.addWidget(self.openBtn)
frameControl = QFrame(self)
frameControl.setFixedHeight(70)
frameControl.setLayout(layoutControl)
layoutVert.addWidget(frameControl)
layoutVert.addWidget(self.progressBar)
self.setLayout(layoutVert)
def setStatusOfWidgets(self):
self.saveBtn.setEnabled(self.allowSave)
if self.offline:
self.enableBtn.setStyleSheet("background-color: grey")
self.enableBtn.setEnabled(False)
self.pauseBtn.setStyleSheet("background-color: grey")
self.pauseBtn.setEnabled(False)
self.modeCombo.setEnabled(False)
self.triggBtn.setEnabled(False)
self.setWindowTitle("ecmc Mtn Main plot: Offline")
else:
self.modeCombo.setEnabled(True)
# Check actual value of pvs
enable = self.pvs['EnaCmd-RB'].get()
if enable is None:
print("pvs['EnaCmd-RB'].get() failed")
return
if(enable>0):
self.enableBtn.setStyleSheet("background-color: green")
self.data['EnaCmd-RB'] = True
else:
self.enableBtn.setStyleSheet("background-color: red")
self.data['EnaCmd-RB'] = False
#self.sourceStr = self.pvSource.get(as_string=True)
#if self.sourceStr is None:
# print("pvSource.get() failed")
# return
self.sampleRate = self.pvs['SmpHz-RB'].get()
if self.sampleRate is None:
print("pvs['SmpHz-RB'].get() failed")
return
self.sampleRateValid = True
# calc x Array
step=1/self.sampleRate
self.x = np.arange(-xMaxTime-step,0+step,step)
print('x')
print(self.x)
self.data['Mde-RB'] = self.pvs['Mde-RB'].get()
if self.data['Mde-RB'] is None:
print("pvs['Mde-RB'].get() failed")
return
self.modeStr = "NO_MODE"
self.triggBtn.setEnabled(False) # Only enable if mode = TRIGG = 2
if self.data['Mde-RB'] == 1:
self.modeStr = "CONT"
self.modeCombo.setCurrentIndex(self.data['Mde-RB']-1) # Index starta t zero
if self.data['Mde-RB'] == 2:
self.modeStr = "TRIGG"
self.triggBtn.setEnabled(True)
self.modeCombo.setCurrentIndex(self.data['Mde-RB']-1) # Index starta t zero
self.setWindowTitle("ecmc Mtn Main plot: prefix=" + self.pvPrefixStr + " , mtnId=" + str(self.mtnPluginId) +
", rate=" + str(self.sampleRate))
def addData(self, pvName, values):
# Check if first assignment
if self.data[pvName] is None:
self.data[pvName] = values
return
self.data[pvName]=np.append(self.data[pvName],values)
# check if delete in beginning is needed
currcount = len(self.data[pvName])
if self.sampleRateValid:
allowedcount = int(xMaxTime * self.sampleRate)
else:
print('Warning sample rate not defined, fallback to max 10000 values')
allowedcount = 10000
# remove if needed
if currcount > allowedcount:
self.data[pvName]=self.data[pvName][currcount-allowedcount:]
self.datalength[pvName] = len(self.data[pvName])
def buildPvNames(self):
# Pv names based on structure: <prefix>Plugin-Mtn<mtnPluginId>-<suffixname>
for pv in pvlist:
self.pvnames[pv]=self.buildPvName(pv)
if self.pvnames[pv] is None:
raise RuntimeError("pvname must not be 'None'")
if len(self.pvnames[pv])==0:
raise RuntimeError("pvname must not be ''")
self.pvs[pv] = epics.PV(self.pvnames[pv])
self.pv_signal_cbs[pv] = comSignal()
# Signal callbacks (update gui)
# replace any '-' with '_' since '-' not allowed in funcion names
sig_cb_func=getattr(self,'sig_cb_' + pv.replace('-','_'))
self.pv_signal_cbs[pv].data_signal.connect(sig_cb_func)
# Pv monitor callbacks
mon_cb_func=getattr(self,'on_change_' + pv.replace('-','_'))
self.pvs[pv].add_callback(mon_cb_func)
QCoreApplication.processEvents()
def buildPvName(self, suffixname):
return self.pvPrefixStr + pvmiddlestring + str(self.mtnPluginId) + '-' + suffixname
###### Pv monitor callbacks
def on_change_BuffSze(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['BuffSze'].data_signal.emit(value)
def on_change_ElmCnt(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['ElmCnt'].data_signal.emit(value)
def on_change_PosAct_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['PosAct-Arr'].data_signal.emit(value)
def on_change_PosSet_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['PosSet-Arr'].data_signal.emit(value)
def on_change_PosErr_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['PosErr-Arr'].data_signal.emit(value)
def on_change_Time_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['Time-Arr'].data_signal.emit(value)
def on_change_Ena_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['Ena-Arr'].data_signal.emit(value)
def on_change_EnaAct_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['EnaAct-Arr'].data_signal.emit(value)
def on_change_Bsy_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['Bsy-Arr'].data_signal.emit(value)
def on_change_Exe_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['Exe-Arr'].data_signal.emit(value)
def on_change_TrjSrc_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['TrjSrc-Arr'].data_signal.emit(value)
def on_change_EncSrc_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['EncSrc-Arr'].data_signal.emit(value)
def on_change_AtTrg_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['AtTrg-Arr'].data_signal.emit(value)
def on_change_ErrId_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['ErrId-Arr'].data_signal.emit(value)
def on_change_Mde_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['Mde-RB'].data_signal.emit(value)
def on_change_Cmd_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['Cmd-RB'].data_signal.emit(value)
def on_change_Stat(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['Stat'].data_signal.emit(value)
def on_change_AxCmd_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['AxCmd-RB'].data_signal.emit(value)
def on_change_SmpHz_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['SmpHz-RB'].data_signal.emit(value)
def on_change_TrgCmd_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['TrgCmd-RB'].data_signal.emit(value)
def on_change_EnaCmd_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
self.pv_signal_cbs['EnaCmd-RB'].data_signal.emit(value)
# def onChangePvMode(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
# if self.pause:
# return
# self.comSignalMode.data_signal.emit(value)
#
# def onChangePvEnable(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
# if self.pause:
# return
# self.comSignalEnable.data_signal.emit(value)
#
# def onChangeX(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
# if self.pause:
# return
# self.comSignalX.data_signal.emit(value)
#
# def onChangePvSpectY(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
# if self.pause:
# return
# self.comSignalSpectY.data_signal.emit(value)
#
# def onChangePvrawData(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
# if self.pause:
# return
# self.comSignalRawData.data_signal.emit(value)
#
# def onChangePvBuffIdAct(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
# if self.pause:
# return
# self.comSignalBuffIdAct.data_signal.emit(value)
###### Signal callbacks
def sig_cb_BuffSze(self,value):
self.data['BuffSze'] = value
def sig_cb_ElmCnt(self,value):
self.data['ElmCnt'] = value
def sig_cb_PosAct_Arr(self,value):
if(np.size(value)) > 0:
self.MtnYDataValid = True
self.addData('PosAct-Arr', value)
def sig_cb_PosSet_Arr(self,value):
self.addData('PosSet-Arr', value)
def sig_cb_PosErr_Arr(self,value):
self.addData('PosErr-Arr', value)
def sig_cb_Time_Arr(self,value):
if(np.size(value)) > 0:
self.addData('Time-Arr', value)
self.MtnXDataValid = True
self.plotAll()
return
def sig_cb_Ena_Arr(self,value):
self.addData('Ena-Arr', value)
def sig_cb_EnaAct_Arr(self,value):
self.addData('EnaAct-Arr', value)
def sig_cb_Bsy_Arr(self,value):
self.addData('Bsy-Arr', value)
def sig_cb_Exe_Arr(self,value):
self.addData('Exe-Arr', value)
def sig_cb_TrjSrc_Arr(self,value):
self.addData('TrjSrc-Arr', value)
def sig_cb_EncSrc_Arr(self,value):
self.addData('EncSrc-Arr', value)
def sig_cb_AtTrg_Arr(self,value):
self.addData('AtTrg-Arr', value)
def sig_cb_ErrId_Arr(self,value):
self.addData('ErrId-Arr', value)
def sig_cb_Mde_RB(self,value):
if value < 1 or value> 2:
self.modeStr = "NO_MODE"
print('callbackFuncMode: Error Invalid mode.')
return
self.data['Mde-RB'] = value
self.modeCombo.setCurrentIndex(self.data['Mde-RB']-1) # Index starta t zero
if self.data['Mde-RB'] == 1:
self.modeStr = "CONT"
self.triggBtn.setEnabled(False) # Only enable if mode = TRIGG = 2
if self.data['Mde-RB'] == 2:
self.modeStr = "TRIGG"
self.triggBtn.setEnabled(True)
return
def sig_cb_Cmd_RB(self,value):
self.data['Cmd-RB'] = value
def sig_cb_Stat(self,value):
self.data['Stat'] = value
def sig_cb_AxCmd_RB(self,value):
self.data['AxCmd-RB'] = value
def sig_cb_SmpHz_RB(self,value):
self.data['SmpHz-RB'] = value
def sig_cb_TrgCmd_RB(self,value):
self.data['TrgCmd-RB'] = value
def sig_cb_EnaCmd_RB(self,value):
self.data['EnaCmd-RB'] = value
self.data['EnaCmd-RB'] = value
if self.data['EnaCmd-RB']:
self.enableBtn.setStyleSheet("background-color: green")
else:
self.enableBtn.setStyleSheet("background-color: red")
self.data['EnaCmd-RB'] = value
return
# def callbackFuncSpectY(self, value):
# if(np.size(value)) > 0:
#
# self.spectY = value
# self.MtnYDataValid = self.RawXDataValid
# self.plotAll()
# return
#
# def callbackFuncrawData(self, value):
# if(np.size(value)) > 0:
# if (self.data['Time-Arr'] is None or np.size(value) != np.size(self.rawdataY)) and self.sampleRateValid:
# self.data['Time-Arr'] = np.arange(-np.size(value)/self.sampleRate, 0, 1/self.sampleRate)
# self.RawXDataValid = True
#
# self.rawdataY = value
# self.RawYDataValid = True
# self.plotAll()
# return
#
# def callbackFuncBuffIdAct(self, value):
# if self.NMtn is None:
# return
# if(self.NMtn>0):
# self.progressBar.setValue(value/self.NMtn*100)
# if value/self.NMtn*100 < 80 and value/self.NMtn*100 >1:
# self.MtnYDataValid = False
# self.RawYDataValid = False
# return
###### Widget callbacks
def pauseBtnAction(self):
self.pause = not self.pause
if self.pause:
self.pauseBtn.setStyleSheet("background-color: red")
else:
self.pvPrefixStr = self.pvPrefixOrigStr # Restore if dataset was opened
self.mtnPluginId = self.mtnPluginOrigId # Restore if dataset was opened
self.buildPvNames()
self.pauseBtn.setStyleSheet("background-color: green")
# Retrigger plots with newest values
#self.comSignalSpectY.data_signal.emit(self.spectY)
#self.comSignalRawData.data_signal.emit(self.rawdataY)
return
def enableBtnAction(self):
self.data['EnaCmd-RB'] = not self.data['EnaCmd-RB']
self.pvs['EnaCmd-RB'].put(self.data['EnaCmd-RB'])
if self.data['EnaCmd-RB']:
self.enableBtn.setStyleSheet("background-color: green")
else:
self.enableBtn.setStyleSheet("background-color: red")
return
def triggBtnAction(self):
self.pvTrigg.put(True)
return
def zoomBtnAction(self):
if self.data['Time-Arr'] is None:
return
if self.data['PosAct-Arr'] is None:
return
self.plotAnalog(True)
self.plotBinary(True)
return
def newModeIndexChanged(self,index):
if index==0 or index==1:
if not self.offline and self.pvs['Mde-RB'] is not None:
self.pvs['Mde-RB'].put(index+1)
return
def openBtnAction(self):
#if not self.offline:
# self.pause = 1 # pause while open if online
# self.pauseBtn.setStyleSheet("background-color: red")
# QCoreApplication.processEvents()
#
#fname = QFileDialog.getOpenFileName(self, 'Open file', self.path, "Data files (*.npz)")
#if fname is None:
# return
#if np.size(fname) != 2:
# return
#if len(fname[0])<=0:
# return
#self.path = os.path.dirname(os.path.abspath(fname[0]))
#
#npzfile = np.load(fname[0])
#
## verify scope plugin
#if npzfile['plugin'] != "Mtn":
# print ("Invalid data type (wrong plugin type)")
# return
#
## File valid
#self.data['Time-Arr'] = npzfile['rawdataX']
#self.rawdataY = npzfile['rawdataY']
#self.dataX = npzfile['spectX']
#self.spectY = npzfile['spectY']
#self.sampleRate = npzfile['sampleRate']
#self.NMtn = npzfile['NMtn']
#self.data['Mde-RB'] = npzfile['mode']
#self.pvPrefixStr = str(npzfile['pvPrefixStr'])
#self.mtnPluginId = npzfile['mtnPluginId']
#if 'unitRawY' in npzfile:
# self.unitAnalogY = str(npzfile['unitRawY'])
#if 'unitSpectY' in npzfile:
# self.unitSpectY = str(npzfile['unitSpectY'])
#if 'labelRawY' in npzfile:
# self.labelAnalogY = str(npzfile['labelRawY'])
#if 'labelSpectY' in npzfile:
# self.labelSpectY = str(npzfile['labelSpectY'])
#if 'title' in npzfile:
# self.title = str(npzfile['title'])
#
#self.buildPvNames()
#
## trigg draw
#self.MtnYDataValid = True
#self.MtnXDataValid = True
#self.RawYDataValid = True
#self.RawXDataValid = True
#self.sampleRateValid = True
#self.comSignalMode.data_signal.emit(self.data['Mde-RB'])
#self.comSignalX.data_signal.emit(self.dataX)
#self.comSignalSpectY.data_signal.emit(self.spectY)
#self.comSignalRawData.data_signal.emit(self.rawdataY)
#self.setStatusOfWidgets()
#
#self.startupDone=True
#self.zoomBtnAction()
return
def saveBtnAction(self):
#fname = QFileDialog.getSaveFileName(self, 'Save file', self.path, "Data files (*.npz)")
#if fname is None:
# return
#if np.size(fname) != 2:
# return
#if len(fname[0])<=0:
# return
## Save all relevant data
#np.savez(fname[0],
# plugin = "Mtn",
# rawdataX = self.data['Time-Arr'],
# rawdataY = self.rawdataY,
# spectX = self.dataX,
# spectY = self.spectY,
# sampleRate = self.sampleRate,
# NMtn = self.NMtn,
# mode = self.data['Mde-RB'],
# pvPrefixStr = self.pvPrefixStr,
# mtnPluginId = self.mtnPluginId,
# unitRawY = self.unitAnalogY,
# unitSpectY = self.unitSpectY,
# labelRawY = self.labelAnalogY,
# labelSpectY = self.labelSpectY,
# title = self.title
# )
#
#self.path = os.path.dirname(os.path.abspath(fname[0]))
return
def plotAll(self):
if self.MtnYDataValid and self.MtnXDataValid:
self.plotAnalog()
self.plotBinary()
self.MtnYDataValid = False
self.RawYDataValid = False
def plotAnalog(self, autozoom=False):
if self.data['Time-Arr'] is None:
return
if self.data['PosAct-Arr'] is None:
return
# create an axis
if self.axAnalog is None:
self.axAnalog = self.figure.add_subplot(211)
self.axAnalog.set_xlim(-10,0)
minimum_x=0
# plot data
for pv in pvAnalog:
if self.plottedLineAnalog[pv] is not None:
self.plottedLineAnalog[pv].remove()
if self.data[pv] is not None:
y = self.data[pv]
y_len=len(y)
x_len=len(self.x)
self.plottedLineAnalog[pv], = self.axAnalog.plot(self.x[x_len-y_len:],y,self.plotColor[pv])
minimum_x_temp=-y_len/self.sampleRate
if minimum_x_temp < minimum_x:
minimum_x = minimum_x_temp
else:
print("Data null for pv: " + pv)
self.axAnalog.grid(True)
self.axAnalog.set_xlabel('Time [s]')
self.axAnalog.set_ylabel(self.labelAnalogY + ' ' + self.unitAnalogY)
self.axAnalog.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'])
xmin=minimum_x
#xmax = np.max(self.data['Time-Arr'])
xmax = 0
if xmin == xmax:
xmin = xmin - 1
xmax = xmax + 1
range = xmax - xmin
xmax += range * 0.02
xmin -= range * 0.02
self.axAnalog.set_ylim(ymin,ymax)
self.axAnalog.set_xlim(xmin,xmax)
# refresh canvas
self.canvas.draw()
self.allowSave = True
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)
self.axBinary.set_xlim(-10,0)
# plot data
minimum_x = 0
for pv in pvBinary:
if self.plottedLineBinary[pv] is not None:
self.plottedLineBinary[pv].remove()
if self.data[pv] is not None:
y = self.data[pv]
y_len=len(y)
x_len=len(self.x)
self.plottedLineBinary[pv], = self.axBinary.plot(self.x[x_len-y_len:],y,self.plotColor[pv])
minimum_x_temp=-y_len/self.sampleRate
if minimum_x_temp < minimum_x:
minimum_x = minimum_x_temp
else:
print("Data null for pv: " + pv)
self.axBinary.grid(True)
self.axBinary.set_xlabel('Time [s]')
self.axBinary.set_ylabel(self.labelBinaryY + ' ' + self.unitBinaryY)
self.axBinary.set_title(self.title)
if autozoom:
ymin = -0.1
ymax = 1.1
# 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'])
xmin=minimum_x
#xmax = np.max(self.data['Time-Arr'])
xmax = 0
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>")
print("<prefix>: Ioc prefix ('IOC_TEST:')")
print("<mtnId> : Id of mtn plugin ('0')")
print("example : python ecmcMotionMainGui.py 'IOC_TEST:' '0'")
print("Will connect to Pvs: <prefix>Plg-Mtn<mtnId>-*")
if __name__ == "__main__":
import sys
prefix = None
mtnid = None
if len(sys.argv) == 1:
prefix = None
mtnid = None
elif len(sys.argv) == 3:
prefix = sys.argv[1]
mtnid = int(sys.argv[2])
else:
printOutHelp()
sys.exit()
app = QtWidgets.QApplication(sys.argv)
window=ecmcMtnMainGui(prefix=prefix,mtnPluginId=mtnid)
window.show()
sys.exit(app.exec_())

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