motion/ecmc_plugin_motion
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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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89
tools/ecmcMotionMainPyQtGraph.py
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@@ -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__":