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This commit is contained in:
zamofing_t
2018-11-30 15:14:06 +01:00
parent 38a8c8484b
commit 1c77690711
3 changed files with 138 additions and 81 deletions
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26
Readme.md
View File

@@ -1169,4 +1169,30 @@ Try to find encoder count loss
Gate3[0].EncClockDiv=2
Gate3[1].EncClockDiv=2
```
Helicalscan setup
-----------------
```
calcParam(
x=((-34.05489905551743, 208.10204385266277, -606.4416461908648),
(22.139508829306088, 158.83214548238513, -618.6408606756819)),
y=(1700.0, 1252.0231362790232),
z=((-1200.0, -2000.0000000000005, -1900.0000000000005),
(-1200.0, -2000.0000000000005, -1800.0000000000002)))
cpx X0 Z0 B0 Y1700.0
cpx X0 Z0 B120000 Y1700.0
cpx X0 Z0 B240000 Y1700.0
cpx X0 Z0 B0 Y1252.0
cpx X0 Z0 B120000 Y1252.0
cpx X0 Z0 B240000 Y1252.0
send 1"fwd_inp(%f) %f %f %f %f\\n",D0,{qCX},{qCZ},{qW},{qFY}
send 1"fwd_res %f %f %f %f\\n",{DX},{DZ},{W},{Y}
send 1"inv_inp(%f) %f %f %f %f\\n",D0,{DX},{DZ},{W},{Y}
send 1"inv_res %f %f %f %f\\n",{qCX},{qCZ},{qW},{qFY}
```

191
python/helicalscan.py
View File

@@ -26,6 +26,13 @@ verbose bits:
4 list program
#4 upload progress
#8 plot gather path
modes:
0: test scratch mode
1: test find rotation center
2: test param calculation and display the gui
3: load recorded data, check param calculation not changed display in the gui
4: load recorded data, display in the interactive_anim gui (default)
'''
#motors CX CZ RY FY
@@ -770,10 +777,11 @@ class HelicalScan(MotionBase):
// 4 5 3 1
&1
a
#1->0
#2->0
#3->0
#4->0
#5->0
#3->0
#1->0
#4->I
#5->I
@@ -791,7 +799,7 @@ Motor[5].MaxSpeed=8
subsParam=dict(map(lambda k, i, v: (k + '_' + str(i), v), s * sh[0], c, pbParam.reshape(-1)))
subsParam['d2r']=d2r/1000.
subsParam['r2d']=1000./d2r
subsParam['cmt']='//'#''
subsParam['cmt']='//'#'//'#''
subs={'qCX':'L4', 'qCZ':'L5', 'qW':'L3', 'qFY':'L1',
@@ -1104,18 +1112,91 @@ close
if __name__=='__main__':
def run_test(args):
test=args.test
mode=args.mode
#args.host=None
if args.host is None:
if args.host is None or mode in(3,4):
comm=gather=None
else:
comm = PPComm(host=args.host)
gather = Gather(comm)
gpascii = comm.gpascii
hs=HelicalScan(comm, gather, args.verbose)
if mode==0:
# gpasci: #1,4,5p // y,-x ,-z
# 0deg 256.7 -762.5 -396.4
# 120deg 258.5 731.7 -1896.9
# ...
# &1p
# cpx X0 Z0 B0 Y258
# cpx X0 Z0 B120000 Y258
if test==1:
hs.calcParam(x=((-1154.4, 216.3, -250.7), (-1330.2, 340.9, -230.4)),
y=(1405.7, 1019.2),
z=((-1309.6, -1010.9, -2410.3), (-1219.4, -918.8, -2510.4)))
### use simulation motors ###
# os.chdir(os.path.join(os.path.dirname(__file__),'../cfg'))
# 'sim_8_motors.cfg'
# ['$$$***','!common()','!SAR-EXPMX1()','#1..7j/','enable plc 1','Motor[1].MaxSpeed=25','Motor[2].MaxSpeed=25'])
# raw_input('press return when homed')
### hs.calcParam(<data from Zac>) ###
# fh=open("/sf/bernina/config/swissmx/exchange/helical.cmd")
# fh=open("/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/helical.cmd")
#fh = open("/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/lyso001_0063_helical_debug.cmd")
fh = open("/sf/bernina/data/p17592/res/20181130/helicaltest/lyso005/lyso005_0072_helical_debug.cmd")
# find /sf/bernina/data/p17592/res/ -name '*.cmd'
s = fh.read();
s = s.replace('calcParam', 'hs.calcParam')
eval(s)
# &1p
# cpx X0 Z0 B0 Y258
# cpx X0 Z0 B120000 Y258
hs.setup_coord_trf()
hs.setup_sync(mode=0) # None: no sync at all mode=1: sync on timing UserFlag
hs.setup_gather()
# hs.gen_prog(mode=-1)
# hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
# hs.gen_prog(mode=0,cntHor=1)
# hs.gen_prog(mode=0)
# hs.gen_prog(mode=0,cntHor=1,cntVert=5,wRng=(120000,120000))
# hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100)
# hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100,smt=0)
# hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(0,360000))
# hs.gen_prog(mode=1,cntHor=1,cntVert=5,hRng=(-.3,.3),wRng=(0,360000),smt=1)
# hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-3,3),wRng=(120000,120000),smt=0)
# hs.gen_prog(mode=1,cntHor=3,cntVert=6,hRng=(-5,5),wRng=(00,120000),smt=0,pt2pt_time=10)
# hs.gen_prog(mode=0,cntHor=3,cntVert=10,hRng=(-5,5),wRng=(0,120000))
# hs.gen_prog(mode=0,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000))
# hs.gen_prog(mode=1,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000),smt=0,pt2pt_time=300)
#hs.setup_motion(mode=1, cntHor=5, cntVert=15, hRng=(-150, 150), wRng=(0, 120000), smt=0, pt2pt_time=200)
hs.setup_motion(mode=1, cntHor=10, cntVert=20, hRng=(-300, 300), wRng=(0, 100000), smt=0, pt2pt_time=40)
# hs.gen_prog(mode=1,cntHor=5,cntVert=25,hRng=(-100,100),wRng=(0,120000),smt=0,pt2pt_time=40)
# hs.gen_prog(mode=1,cntHor=3,cntVert=20,hRng=(-5,5),wRng=(0,1200),smt=0,pt2pt_time=200)
# hs.gen_prog(mode=1, cntHor=2, cntVert=2, wRng=(0, 360000), smt=0)
# hs.gen_prog(mode=1)
# hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3))
# hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=10,cntHor=3,hRng=(-30,30),wRng=(0,36000),yRng=(-50,-100))
# hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-100,50),wRng=(000,10000),smt=0)
hs.run()
print('wait until gather finished:')
fn = '/tmp/helicalscan'
hs.gather_upload(fn + '.npz')
hs.load_rec(fn + '.npz')
hsg = HelicalScanGui(hs)
hsg.show_pos()
hsg.show_vel()
hsg.interactive_anim()
if mode==1:
### test find rotation center ###
HelicalScanTests.test_find_rot_ctr(n=32. ,per=1.,bias=2.31,ampl=4.12,phi=0*d2r)
HelicalScanTests.test_find_rot_ctr(n=32. ,per=1.,bias=2.31,ampl=4.12,phi=30.*d2r)
@@ -1123,14 +1204,17 @@ if __name__=='__main__':
HelicalScanTests.test_find_rot_ctr(n=5. ,per=1.,bias=7.25,ampl=6.51,phi=-124.6*d2r)
return
elif test==2:
elif mode==2:
### test param calculation and display the gui###
HelicalScanTests.calcParamSim(hs)
hs.setup_motion(mode=1,cntHor=5,cntVert=15,hRng=(-50,50),wRng=(0,120000),smt=0,pt2pt_time=200)
hs.setup_coord_trf()
hs.setup_sync(mode=0) # None: no sync at all mode=1: sync on timing UserFlag
hs.setup_gather()
# setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
# sp.setup_sync() #no sync at all
# sp.setup_sync(mode=1) #sync with timing system (PROG)
hs.setup_sync(mode=2) # sync with timing system and PLC to sync speed (PROG)
hs.setup_coord_trf()
hs.setup_motion(mode=1,cntHor=5,cntVert=15,hRng=(-50,50),wRng=(0,120000),smt=0,pt2pt_time=200)
hs.run()
print('wait until gather finished:')
fn = '/tmp/helicalscan'
@@ -1143,12 +1227,13 @@ if __name__=='__main__':
hsg=HelicalScanGui(hs);hsg.interactive_anim(manip=manip)
return
elif test==3:
### load recorded data, check param calculation not changed and display in the gui###
fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/helicalscan'
hs.load_rec(fn+'.npz')
elif mode==3:
### load recorded data, #check param calculation not changed display in the gui###
fn=args.other[0]
hs.load_rec(fn)
paramRec=hs.param
fh=open("/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/helical.cmd")
#fh=open("/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/helical.cmd")
fh = open(fn[-4]+'_helical_debug.cmd')
s=fh.read();s=s.replace('calcParam','hs.calcParam')
eval(s)
assert (abs(paramRec-hs.param).max()<1E-10)
@@ -1158,68 +1243,14 @@ if __name__=='__main__':
hsg=HelicalScanGui(hs);hsg.interactive_cx_cz_w_fy(manip=manip)
hsg=HelicalScanGui(hs);hsg.interactive_dx_dz_w_y(manip=manip)
return
#gpasci: #1,4,5p // y,-x ,-z
# 0deg 256.7 -762.5 -396.4
#120deg 258.5 731.7 -1896.9
#...
#&1p
#cpx X0 Z0 B0 Y258
#cpx X0 Z0 B120000 Y258
hs.calcParam(x = ((-1154.4, 216.3, -250.7), ( -1330.2, 340.9, -230.4)),
y = (1405.7,1019.2),
z = ((-1309.6, -1010.9, -2410.3),( -1219.4, -918.8, -2510.4)))
### use simulation motors ###
#os.chdir(os.path.join(os.path.dirname(__file__),'../cfg'))
#'sim_8_motors.cfg'
#['$$$***','!common()','!SAR-EXPMX1()','#1..7j/','enable plc 1','Motor[1].MaxSpeed=25','Motor[2].MaxSpeed=25'])
# raw_input('press return when homed')
### hs.calcParam(<data from Zac>) ###
fh=open("/sf/bernina/config/swissmx/exchange/helical.cmd")
#fh=open("/sf/bernina/config/swissmx/exchange/helical_neg.cmd")
s=fh.read();s=s.replace('calcParam','hs.calcParam')
eval(s)
hs.setup_coord_trf()
hs.setup_sync(mode=0) # None: no sync at all mode=1: sync on timing UserFlag
hs.setup_gather()
#hs.gen_prog(mode=-1)
#hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
#hs.gen_prog(mode=0,cntHor=1)
#hs.gen_prog(mode=0)
#hs.gen_prog(mode=0,cntHor=1,cntVert=5,wRng=(120000,120000))
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100)
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100,smt=0)
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(0,360000))
#hs.gen_prog(mode=1,cntHor=1,cntVert=5,hRng=(-.3,.3),wRng=(0,360000),smt=1)
#hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-3,3),wRng=(120000,120000),smt=0)
#hs.gen_prog(mode=1,cntHor=3,cntVert=6,hRng=(-5,5),wRng=(00,120000),smt=0,pt2pt_time=10)
#hs.gen_prog(mode=0,cntHor=3,cntVert=10,hRng=(-5,5),wRng=(0,120000))
#hs.gen_prog(mode=0,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000))
#hs.gen_prog(mode=1,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000),smt=0,pt2pt_time=300)
hs.setup_motion(mode=1,cntHor=5,cntVert=15,hRng=(-150,150),wRng=(0,120000),smt=0,pt2pt_time=200)
#hs.gen_prog(mode=1,cntHor=5,cntVert=25,hRng=(-100,100),wRng=(0,120000),smt=0,pt2pt_time=40)
#hs.gen_prog(mode=1,cntHor=3,cntVert=20,hRng=(-5,5),wRng=(0,1200),smt=0,pt2pt_time=200)
#hs.gen_prog(mode=1, cntHor=2, cntVert=2, wRng=(0, 360000), smt=0)
#hs.gen_prog(mode=1)
#hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3))
#hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=10,cntHor=3,hRng=(-30,30),wRng=(0,36000),yRng=(-50,-100))
#hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-100,50),wRng=(000,10000),smt=0)
hs.run()
print('wait until gather finished:')
fn='/tmp/helicalscan'
hs.gather_upload(fn+'.npz')
hs.load_rec(fn+'.npz')
hsg=HelicalScanGui(hs)
hsg.show_pos()
hsg.show_vel()
hsg.interactive_anim()
elif mode==4:
### load recorded data, display in the interactive_anim gui###
fn=args.other[0]
hs.load_rec(fn)
hsg = HelicalScanGui(hs)
hsg.show_pos()
hsg.interactive_anim(manip=False)
return
from optparse import OptionParser, IndentedHelpFormatter
@@ -1239,8 +1270,8 @@ if __name__=='__main__':
'main command line interpreter function'
#usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
(h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' '
exampleCmd=('-n',
'-v15'
exampleCmd=('-m0',
'/sf/bernina/data/p17592/res/20181130/helicaltest/lyso001/lyso001_0062.npz '
)
epilog=__doc__+'''
Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
@@ -1250,7 +1281,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=255)
parser.add_option('--host', help='hostname', default='SAR-CPPM-EXPMX1')
parser.add_option('-t','--test', type="int", default=None)
parser.add_option('-m','--mode', type="int", default=4)
(args, other)=parser.parse_args()
args.other=other

2
python/shapepath.py
View File

@@ -632,8 +632,8 @@ if __name__=='__main__':
#setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
#sp.setup_sync() #no sync at all
#sp.setup_sync(mode=1) #sync with timing system (PROG)
sp.setup_coord_trf() # reset to shape path system
sp.setup_sync(mode=2) #sync with timing system and PLC to sync speed (PROG)
sp.setup_coord_trf() # reset to shape path system
#sp.gen_grid_points(w=2,h=2,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
#sp.gen_swissmx_points(width=1000,ofs=(-500,0));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1)