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Collimator tests fixed/improved

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boccioli_m
2015-10-20 17:02:59 +02:00
parent 7e030b6fa4
commit 544ff43cac
7 changed files with 101 additions and 93 deletions
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script/tests/config/CollimatorTests
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2
script/tests/tests.properties
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@@ -1,5 +1,5 @@
#TestingList for pshell: configuration properties
#Mon Oct 19 16:10:50 CEST 2015
#Tue Oct 20 16:14:45 CEST 2015
customPanel=Kollimators
showEnabledTestsOnly=true
listFilter=CollimatorTests

41
script/tests/tests/Collimator Tests pro/Motor Test 1/Motor Test 1.py
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@@ -36,12 +36,21 @@ def startTest(testName, DEVICE, params):
test.sendFeedback(ret, success)
return
scan = ManualScan(['time [1/'+ str(1/samplePeriod) + ' s]'], ['Motor Pos (IST3:2)', 'Poti Position (IST2:1)',
'Motor Status (STA:1)', 'Inkr (INKR:2)', 'InkrRb (INKRRB:2)',
'Diameter (DIAM:2)', 'Logical Position (IST:2)',
'Motor Pos Raw (IST3:1)','Poti Pos From Beam (IST1:2)',
'Poti Raw (POSA:1)', 'Poti Ref1 Position (REF1:1)', 'Poti Ref2 Position (REF2:1)'])
p1 = plot(None, name = "Poti Pos From Beam - Motor Position", context = plotName + " pos difference")[0]
scan = ManualScan(['time [1/'+ str(1/samplePeriod) + ' s]'], [
'Btvs Poti Position (IST3:2)',
'Mcs Poti Position (IST2:1)',
'Motor Status (STA:1)',
'Inkr (INKR:2)',
'InkrRb (INKRRB:2)',
'Diameter (DIAM:2)',
'Logical Position (IST:2)',
'Btvs Raw (IST3:1)',
'Motor Position (IST1:2)',
'Poti Raw (POSA:1)',
'Poti Ref1 Position (REF1:1)',
'Poti Ref2 Position (REF2:1)'])
p1 = plot(None, name = "Motor Position - Btvs Poti Position", context = plotName + " pos difference")[0]
scan.setPlotName(plotName)
scan.start()
# Creating channels: dimension 1
@@ -49,13 +58,13 @@ def startTest(testName, DEVICE, params):
idMotorStatus = Channel(DEVICE + ':STA:1' , type = 'd') # DSP device_status reg
idLogicalPosition = Channel(DEVICE + ':IST:2' , type = 'd') # Shows current position in logical units as calculated from motor step counter [1..n]
idPotiRaw = Channel(DEVICE + ':POSA:1' , type = 'd') # poti raw data [ADC units]
idMotorPositionRaw = Channel(DEVICE + ':IST3:1' , type = 'd') # shows current position in steps as as obtained from motor step counter [steps]
idBtvsRaw = Channel(DEVICE + ':IST3:1' , type = 'd') # shows current position in steps as as obtained from motor step counter [steps]
idInkr = Channel(DEVICE + ':INKR:2' , type = 'd') # move relative distance (positive means towards R2) [mm]
idInkrRb = Channel(DEVICE + ':INKRRB:2' , type = 'd') # readback of move relative distance (positive means towards R2) [mm]
idDiameter = Channel(DEVICE + ':DIAM:2' , type = 'd') # collimator diameter [mm]
idCom = Channel(DEVICE + ':COM:2' , type = 'd') # motor commands [0=Stop; 1=Calibrate; 2=gotoR1; 3=gotoR2]
idMotorPosition = Channel(DEVICE + ':IST3:2' , type = 'd') # current position as from motor step counter [mm]
idPotiPosFromBeam = Channel(DEVICE + ':IST1:2' , type = 'd') # current position from beam as from potentiometer [mm]
idBtvs = Channel(DEVICE + ':IST3:2' , type = 'd') # current position as from motor step counter [mm]
idMotorPosition = Channel(DEVICE + ':IST1:2' , type = 'd') # current position from beam as from potentiometer [mm]
idPotiPosition = Channel(DEVICE + ':IST2:1' , type = 'd') # current position as from potentiometer [mm]
idPotiRef1Position = Channel(DEVICE + ':REF1:1' , type = 'd') # R1 position as from potentiometer [mm]
idPotiRef2Position = Channel(DEVICE + ':REF2:1' , type = 'd') # R2 position as from potentiometer [mm]
@@ -84,9 +93,9 @@ def startTest(testName, DEVICE, params):
MotorStatus = idMotorStatus.get()
LogicalPosition = idLogicalPosition.get()
PotiRaw = idPotiRaw.get()
MotorPositionRaw = idMotorPositionRaw.get()
BtvsRaw = idBtvsRaw.get()
Btvs = idBtvs.get()
MotorPosition = idMotorPosition.get()
PotiPosFromBeam = idPotiPosFromBeam.get()
PotiPosition = idPotiPosition.get()
PotiRef1Position = idPotiRef1Position.get()
PotiRef2Position = idPotiRef2Position.get()
@@ -94,11 +103,11 @@ def startTest(testName, DEVICE, params):
Inkr = idInkr.get()
InkrRb = idInkrRb.get()
idDiff01 = PotiPosition - MotorPosition
idDiff01 = MotorPosition - Btvs
scan.append([currentTime], [currentTime],
[MotorPosition, PotiPosition, MotorStatus, Inkr, InkrRb, Diameter, LogicalPosition,
MotorPositionRaw, PotiPosFromBeam, PotiRaw, PotiRef1Position, PotiRef2Position])
[Btvs, PotiPosition, MotorStatus, Inkr, InkrRb, Diameter, LogicalPosition,
BtvsRaw, MotorPosition, PotiRaw, PotiRef1Position, PotiRef2Position])
p1.getSeries(count).appendData(currentTime, idDiff01)
@@ -147,9 +156,9 @@ def startTest(testName, DEVICE, params):
idMotorStatus.close()
idLogicalPosition.close()
idPotiRaw.close()
idMotorPositionRaw.close()
idBtvsRaw.close()
idBtvs.close()
idMotorPosition.close()
idPotiPosFromBeam.close()
idPotiPosition.close()
idPotiRef1Position.close()
idPotiRef2Position.close()

2
script/tests/tests/Collimator Tests pro/Motor Test 2/.config
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@@ -4,4 +4,4 @@ description=Go to absolute position A, then move +B steps, then -2B steps, then
#optional parameters. Description is compulsory. Syntax:
#parameters=<parameter1Name>:<parameter1Value>:<Parameter 1 description>[;<parameter2Name>:<parameter2Value>:<Parameter 2 description>]
parameters=repeatTimes:1:Repeat N times;midPoint:41.0:Middle point A;spanFromMidPoint:2.0:B steps around middle point A
parameters=repeatTimes:1:Repeat N times;midPoint:41.0:Middle point A [mm];spanFromMidPoint:2.0:B steps around middle point A [integer];translationStep:5.0:Step lenght [mm]

133
script/tests/tests/Collimator Tests pro/Motor Test 2/Motor Test 2.py
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@@ -28,60 +28,57 @@ def startTest(testName, DEVICE, params):
middle = float(test.getParam("midPoint"))
loopTimes = int(test.getParam("repeatTimes"))
span = float(test.getParam("spanFromMidPoint"))
settlingTime = 0.2 #seconds
translationStep = float(test.getParam("translationStep")) # each translation will be this amount of mm
settlingTime = 0.2 # seconds
except:
ret = 'Could not retrieve testing parameters - ' + traceback.format_exc()
success = False
test.sendFeedback(ret, success)
return
scan = ManualScan(['time [1/'+ str(1/settlingTime) + ' s]'], ['Motor Pos (IST3:2)', 'Poti Position (IST2:1)',
scan = ManualScan(['time [1/'+ str(1/settlingTime) + ' s]'], ['Btvs Poti Position (IST3:2)', 'Mcs Poti Position (IST2:1)',
'Motor Status (STA:1)', 'Inkr (INKR:2)', 'InkrRb (INKRRB:2)',
'Diameter (DIAM:2)', 'Logical Position (IST:2)',
'Motor Pos Raw (IST3:1)','Poti Pos From Beam (IST1:2)',
'Btvs Raw (IST3:1)','Motor Position (IST1:2)',
'Poti Raw (POSA:1)', 'Poti Ref1 Position (REF1:1)', 'Poti Ref2 Position (REF2:1)'])
scan.setPlotName(plotName)
scan.start()
# coloured plot (one colour per scan)
p1 = plot(None, name="Poti-Increment difference", context=plotName + " difference")[0]
p2 = plot(None, name="Poti-MotorPosition difference", context=plotName + " difference")[0]
p1 = plot(None, name="Motor Position - Btvs Poti Position", context=plotName + " difference")[0]
# Creating channels: dimension 1
try:
idMotorStatus = Channel(DEVICE + ':STA:1' , type = 'd') # DSP device_status reg
idLogicalPosition = Channel(DEVICE + ':IST:2' , type = 'd') # Shows current position in logical units as calculated from motor step counter [1..n]
idPotiRaw = Channel(DEVICE + ':POSA:1' , type = 'd') # poti raw data [ADC units]
idMotorPositionRaw = Channel(DEVICE + ':IST3:1' , type = 'd') # shows current position in steps as as obtained from motor step counter [steps]
idBtvsRaw = Channel(DEVICE + ':IST3:1' , type = 'd') # shows current position in steps as as obtained from motor step counter [steps]
idInkr = Channel(DEVICE + ':INKR:2' , type = 'd') # move relative distance (positive means towards R2) [mm]
idInkrRb = Channel(DEVICE + ':INKRRB:2' , type = 'd') # readback of move relative distance (positive means towards R2) [mm]
idDiameter = Channel(DEVICE + ':DIAM:2' , type = 'd') # collimator diameter [mm]
idMotorPosition = Channel(DEVICE + ':IST3:2' , type = 'd') # current position as from motor step counter [mm]
idPotiPosFromBeam = Channel(DEVICE + ':IST1:2' , type = 'd') # current position from beam as from potentiometer [mm]
idBtvs = Channel(DEVICE + ':IST3:2' , type = 'd') # current position as from motor step counter [mm]
idMotorPosition = Channel(DEVICE + ':IST1:2' , type = 'd') # current position from beam as from potentiometer [mm]
idPotiPosition = Channel(DEVICE + ':IST2:1' , type = 'd') # current position as from potentiometer [mm]
idPotiRef1Position = Channel(DEVICE + ':REF1:1' , type = 'd') # R1 position as from potentiometer [mm]
idPotiRef2Position = Channel(DEVICE + ':REF2:1' , type = 'd') # R2 position as from potentiometer [mm]
idCom = Channel(DEVICE + ':COM:2' , type = 'd') # motor commands [0=Stop; 1=Calibrate; 2=gotoR1; 3=gotoR2]
except:
ret = 'Unable to create channel - ' + traceback.format_exc()
success = False
test.sendFeedback(ret, success)
return
direction = 1.0
startDefault = middle - span
endDefault = middle + span
end = endDefault + 1
# find position: it will be the middle point of the test
test.log('Moving to initial position R1')
idCom.put(2, timeout=None) # go to R1 start limit
test.log('Moving to middle point ' + str(middle))
idInkr.put(middle, timeout=None) # TODO: Set appropriate timeout
readback2 = idInkr.get()
if abs(readback2 - middle) > 5: # TODO: Check accuracy
ret = 'Actor idInkr could not be set to the value ' + str(middle) + ' (current value: ' + str(
readback2) + ')'
ret = 'Actor idInkr could not be set to the value ' + str(middle) + ' (current value: ' + str(readback2) + ')'
success = False
test.sendFeedback(ret, success)
return
start = readback2 + direction
countSteps = 0
direction = 1.0
count = 0
test.log('Moving around middle point (+-' + str(span) + ')')
for setpoint1 in range(0, (loopTimes * 2)):
@@ -89,18 +86,17 @@ def startTest(testName, DEVICE, params):
sleep(5) # Settling time
p1.addSeries(LinePlotSeries("Run" + str(count)))
# RegionPositioner idInkr
for setpoint2 in frange(start, end, direction):
readback1 = setpoint1
idInkr.put(setpoint2, timeout=None) # TODO: Set appropriate timeout
for setpoint2 in range(0, span+1):
idInkr.put(translationStep*direction, timeout=None)
sleep(settlingTime) # Settling time
readback2 = idInkr.get()
currentTime = float(java.lang.System.currentTimeMillis())
MotorStatus = idMotorStatus.get()
LogicalPosition = idLogicalPosition.get()
PotiRaw = idPotiRaw.get()
MotorPositionRaw = idMotorPositionRaw.get()
BtvsRaw = idBtvsRaw.get()
Btvs = idBtvs.get()
MotorPosition = idMotorPosition.get()
PotiPosFromBeam = idPotiPosFromBeam.get()
PotiPosition = idPotiPosition.get()
PotiRef1Position = idPotiRef1Position.get()
PotiRef2Position = idPotiRef2Position.get()
@@ -108,86 +104,87 @@ def startTest(testName, DEVICE, params):
Inkr = idInkr.get()
InkrRb = idInkrRb.get()
idDiff01 = PotiPosition - MotorPosition
countSteps = countSteps + 1
scan.append([setpoint2], [setpoint2],
[MotorPosition, PotiPosition, MotorStatus, Inkr, InkrRb, Diameter, LogicalPosition,
MotorPositionRaw, PotiPosFromBeam, PotiRaw, PotiRef1Position, PotiRef2Position])
p1.getSeries(count).appendData(setpoint2, idDiff01)
if (direction > 0.0 and setpoint2 >= end - 1):
idDiff01 = MotorPosition - Btvs
# plots
scan.append([currentTime], [currentTime],
[Btvs, PotiPosition, MotorStatus, Inkr, InkrRb, Diameter, LogicalPosition,
BtvsRaw, MotorPosition, PotiRaw, PotiRef1Position, PotiRef2Position])
# plot error against position
p1.getSeries(count).appendData(MotorPosition, idDiff01)
# end of loop: invert direction
if setpoint2 == span:
direction = direction*(-1.0)
break
# check if reached end of span before the end of loop; if so, invert direction
if (direction > 0.0 and MotorPosition >= middle+span):
# invert direction and swap start with end of translation
end = startDefault - 1
start = setpoint2 - direction
direction = -1.0
test.log('End of span (' + str(setpoint2) + '), changing direction to ' + str(direction))
test.log('End of span (' + str(MotorPosition) + '), changing direction to towards R1')
break
if (direction < 0.0 and setpoint2 <= end + 1):
if (direction < 0.0 and MotorPosition <= middle-span):
# invert direction and swap start with end of translation
end = endDefault + 1
start = setpoint2 - direction
direction = 1.0
test.log('End of span (' + str(setpoint2) + '), changing direction to ' + str(direction))
test.log('End of span (' + str(MotorPosition) + '), changing direction to towards R2')
break
#extract Status bits
endH = bool(int(MotorStatus) & 8) #Ref2 (high limit)
endL = bool(int(MotorStatus) & 4) #Ref1 (low limit)
#check if arrived to R1 or R2; if so, invert direction
# extract Status bits
endH = bool(int(MotorStatus) & 8) # Ref2 (high limit)
endL = bool(int(MotorStatus) & 4) # Ref1 (low limit)
# check if arrived to R1 or R2; if so, invert direction
if endH:
# invert direction and swap start with end of translation
end = startDefault - 1
start = setpoint2 - direction
direction = -1.0
test.log('Reached R2 switch, changing direction to ' + str(direction))
test.log('Reached R2, changing direction to ' + str(direction))
break
elif endL:
# invert direction and swap start with end of translation
end = endDefault + 1
start = setpoint2 - direction
direction = 1.0
test.log('Reached R1 switch, changing direction to ' + str(direction))
test.log('Reached R1, changing direction to ' + str(direction))
break
#check if any error bit is raised
if bool(int(MotorStatus) & int('10000',2)): #error: abort test
test.sendFeedback('Motor switched off (bit#4)', False)
# check if any error bit is raised
if bool(int(MotorStatus) & int('10000',2)): # error: abort test
test.sendFeedback('Motor switched off (bit# 4)', False)
return
if bool(int(MotorStatus) & int('100000',2)): #error: abort test
test.sendFeedback('No motor link (bit#5)', False)
if bool(int(MotorStatus) & int('100000',2)): # error: abort test
test.sendFeedback('No motor link (bit# 5)', False)
return
if bool(int(MotorStatus) & int('1000000',2)): #error: abort test
test.sendFeedback('No poti link (bit#6)', False)
if bool(int(MotorStatus) & int('1000000',2)): # error: abort test
test.sendFeedback('No poti link (bit# 6)', False)
return
if bool(int(MotorStatus) & int('10000000',2)): #error: abort test
test.sendFeedback('Calibration error (bit#7)', False)
if bool(int(MotorStatus) & int('10000000',2)): # error: abort test
test.sendFeedback('Calibration error (bit# 7)', False)
return
if bool(int(MotorStatus) & int('100000000',2)): #error: abort test
test.sendFeedback('Cannot get to R1 (bit#8)', False)
if bool(int(MotorStatus) & int('100000000',2)): # error: abort test
test.sendFeedback('Cannot get to R1 (bit# 8)', False)
return
if bool(int(MotorStatus) & int('1000000000',2)): #error: abort test
test.sendFeedback('Cannot get to R2 (bit#9)', False)
if bool(int(MotorStatus) & int('1000000000',2)): # error: abort test
test.sendFeedback('Cannot get to R2 (bit# 9)', False)
return
if bool(int(MotorStatus) & int('10000000000',2)): #error: abort test
test.sendFeedback('Position measurement mismatch (bit#10)', False)
if bool(int(MotorStatus) & int('10000000000',2)): # error: abort test
test.sendFeedback('Position measurement mismatch (bit# 10)', False)
return
if bool(int(MotorStatus) & int('100000000000',2)): #error: abort test
test.sendFeedback('Movement timeout (bit#11)', False)
if bool(int(MotorStatus) & int('100000000000',2)): # error: abort test
test.sendFeedback('Movement timeout (bit# 11)', False)
return
# Closing channels
idMotorStatus.close()
idLogicalPosition.close()
idPotiRaw.close()
idMotorPositionRaw.close()
idBtvsRaw.close()
idBtvs.close()
idMotorPosition.close()
idPotiPosFromBeam.close()
idPotiPosition.close()
idPotiRef1Position.close()
idPotiRef2Position.close()
idDiameter.close()
idInkr.close()
idInkrRb.close()
idCom.close()
scan.end()
ret = 'Slide moved back and forth (' + str(count) + ' runs)'

7
script/tests/tests/Collimator Tests pro/Motor Test 2/help.html
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@@ -5,9 +5,10 @@ Oscillate around a specified position
<h2>Details</h2>
Go to absolute position A, then move +B steps, then -2B steps, then +2Bsteps (ie oscillate round centre position, logging after each movement); repeat N times
<h2>Parameters</h2>
<code>repeatTimes</code> Repeat the Initialisation N times<br/>
<code>midPoint</code> Position A
<code>spanFromMidPoint</code> The B steps
<code>repeatTimes</code> Repeat N times<br/>
<code>midPoint</code> Position A [mm]<br/>
<code>spanFromMidPoint</code> The B steps [integer]<br/>
<code>translationStep</code> Length of the movement per each traslation step [mm]<br/>
<h2>Contact</h2>
<a href="https://intranet.psi.ch/Main/MarcoBoccioli">Marco Boccioli </a>
</html>

9
script/tests/tests/Collimator Tests pro/Motor Test 3/Motor Test 3.py
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@@ -33,7 +33,7 @@ def startTest(testName, DEVICE, params):
test.sendFeedback(ret, success)
return
scan = ManualScan(['traslation'], [
scan = ManualScan(['time [1/'+ str(1/samplePeriod) + ' s]'], [
'Btvs Poti Position (IST3:2)',
'Mcs Poti Position (IST2:1)',
'Motor Status (STA:1)',
@@ -101,6 +101,7 @@ def startTest(testName, DEVICE, params):
idInkr.put(translation*direction, timeout=10)
sleep(samplePeriod) # Settling time
currentTime = float(java.lang.System.currentTimeMillis())
MotorStatus = idMotorStatus.get()
LogicalPosition = idLogicalPosition.get()
@@ -119,7 +120,7 @@ def startTest(testName, DEVICE, params):
countSteps = countSteps + (translation*direction)
# multi plot
scan.append([countSteps], [countSteps],[
scan.append([currentTime], [currentTime],[
Btvs,
PotiPosition,
MotorStatus,
@@ -132,8 +133,8 @@ def startTest(testName, DEVICE, params):
PotiRaw,
PotiRef1Position,
PotiRef2Position])
# draw curve to multi curve plot
p1.getSeries(count).appendData(setpoint2, idDiff01)
# draw diff against steps
p1.getSeries(count).appendData(countSteps, idDiff01)
#extract Status bits
endH = bool(int(MotorStatus) & 8) #Ref2 (high limit)