145 lines
6.9 KiB
Python
145 lines
6.9 KiB
Python
# Drive Out
|
|
|
|
###### Init - DO NOT MODIFY THE CODE BELOW ######
|
|
global sys, inspect, os, traceback
|
|
import sys, inspect, os, traceback
|
|
|
|
|
|
def startTest(testName, DEVICE, params):
|
|
# by default, assume the test failed
|
|
ret = 'Test failed'
|
|
success = False
|
|
# plot name to be given to the scan. Use: scan.setPlotTitle(plotName)
|
|
plotName = DEVICE + ' - ' + testName
|
|
# put the whole custom code under try/catch
|
|
try:
|
|
# get the path of this script
|
|
testPath = inspect.getfile(inspect.currentframe())
|
|
# init the testing tool class. It can be sued in the following ways:
|
|
test = TestingTool(testName, testPath, DEVICE, params)
|
|
samplePeriod = 0.1
|
|
|
|
######### WRITE YOUR CODE HERE BELOW #############
|
|
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)', 'Com (COM: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)'])
|
|
scan.setPlotTitle(plotName)
|
|
scan.start()
|
|
|
|
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]
|
|
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') # current position as from motor step counter [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]
|
|
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]
|
|
|
|
#Pre-actions: 2 = drive out
|
|
caput(DEVICE+':COM:2', 2)
|
|
sleep( samplePeriod ) # Settling time
|
|
except:
|
|
ret = 'Unable to create channel - ' + traceback.format_exc()
|
|
success = False
|
|
test.sendFeedback( ret, success)
|
|
return
|
|
|
|
for setpoint1 in range(0, 10000):
|
|
sleep( samplePeriod ) # Settling time
|
|
|
|
MotorStatus = idMotorStatus.get()
|
|
LogicalPosition = idLogicalPosition.get()
|
|
PotiRaw = idPotiRaw.get()
|
|
MotorPositionRaw = idMotorPositionRaw.get()
|
|
Com = idCom.get()
|
|
MotorPosition = idMotorPosition.get()
|
|
PotiPosFromBeam = idPotiPosFromBeam.get()
|
|
PotiPosition = idPotiPosition.get()
|
|
PotiRef1Position = idPotiRef1Position.get()
|
|
PotiRef2Position = idPotiRef2Position.get()
|
|
Diameter = idDiameter.get()
|
|
Inkr = idInkr.get()
|
|
InkrRb = idInkrRb.get()
|
|
|
|
|
|
scan.append([setpoint2], [setpoint2],
|
|
[MotorPosition, PotiPosition, MotorStatus, Inkr, InkrRb, Diameter, Com, LogicalPosition,
|
|
MotorPositionRaw, PotiPosFromBeam, PotiRaw, PotiRef1Position, PotiRef2Position])
|
|
|
|
if (MotorStatus & int('1',2))==0: #device finished calibration (bit#1)
|
|
#give the device some time before stating that it has really finished
|
|
countDeviceInModeIdle = countDeviceInModeIdle +1
|
|
if countDeviceInModeIdle == 10:
|
|
break
|
|
else:
|
|
countDeviceInModeIdle = 0
|
|
|
|
#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)
|
|
return
|
|
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)
|
|
return
|
|
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)
|
|
return
|
|
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)
|
|
return
|
|
|
|
#Closing channels
|
|
idMotorStatus.close()
|
|
idLogicalPosition.close()
|
|
idPotiRaw.close()
|
|
idMotorPositionRaw.close()
|
|
idCom.close()
|
|
idMotorPosition.close()
|
|
idPotiPosFromBeam.close()
|
|
idPotiPosition.close()
|
|
idPotiRef1Position.close()
|
|
idPotiRef2Position.close()
|
|
idDiameter.close()
|
|
idInkr.close()
|
|
idInkrRb.close()
|
|
scan.end()
|
|
|
|
ret = 'Drive Out done'
|
|
success = True
|
|
scan.end()
|
|
|
|
################ END OF YOUR CODE ################
|
|
###### Final - DO NOT MODIFY THE CODE BELOW ######
|
|
|
|
# just in case the feedback was forgotten
|
|
test.sendFeedback(ret, success)
|
|
except:
|
|
# generic error handler
|
|
ret = traceback.format_exc()
|
|
success = False
|
|
test.sendFeedback(ret, success)
|
|
|
|
|
|
# launch the test
|
|
startTest(test, device, parameters)
|