enhance syncronization -> parameters in setup_sync

-> sp.setup_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
- cleanup code
- add motion markers
- add debug data
- rework triggerSync
- BUT nothing should change in Sync

python/MXMotion.py

@@ -7,6 +7,8 @@
 # *-----------------------------------------------------------------------*
 '''
 Coord[1].Q[0] : sync points when using setup_sync(mode=2)
+                -3: when armed (at start position)
+                -2: triggerSync waiting for start trigger
                 0: after setup_sync(mode=2) call
                 idx: index of position during run
                 -1:  pvt motion is finished
@@ -44,7 +46,7 @@ class MotionBase:
     self.meta={'srv_per':ServoPeriod,'pt2pt_time':40,'sync_flag':0,'sync_mode':2}
     self.meta.update(kwargs)
 
-  def setup_sync(self, crdId=1, prgId=2,verbose=False, timeOfs=0.):
+  def setup_sync(self, crdId=1, prgId=2,verbose=False, timeOfs=0.,timeCor=0.):
     '''setup the timing synchronization for the motion program
        kwargs:
         sync_mode : default=2
@@ -88,41 +90,43 @@ class MotionBase:
       flag0='Coord[{crdId}].Q[10]'.format(crdId=crdId) if sync_flag&1 else 'Gate3[1].Chan[0].UserFlag'
       flag1='Coord[{crdId}].Q[11]'.format(crdId=crdId) if sync_flag&2 else 'Gate3[1].Chan[1].UserFlag'
       if sync_mode==1:
-        prg = '''
-  Coord[{crdId}].Q[0]=-2
-  Coord[{crdId}].TimeBaseSlew=1 //1E-4 is default
-  Coord[{crdId}].DesTimeBase=0
-  while({flag0}==0){{}}
-  Coord[{crdId}].Q[0]=-1
-  Gather.Enable=2
-  while({flag1}==0){{}}
-  Coord[1].DesTimeBase=Sys.ServoPeriod
-  '''.format(crdId=crdId, flag0=flag0, flag1=flag1)
+        prg = f'\n{flag0}=0\n' if sync_flag&1 else ''
+        prg += f'''
+Coord[{crdId}].Q[0]=-2 motion program started and armed
+Coord[{crdId}].TimeBaseSlew=1 //1E-4 is default
+Coord[{crdId}].DesTimeBase=0
+while({flag0}==0){{}}
+Coord[{crdId}].Q[0]=-1
+Gather.Enable=2
+while({flag1}==0){{}}
+Coord[1].DesTimeBase=Sys.ServoPeriod
+'''
       else:
-        prg = '''
-  //Gather.Enable=2 is done in the sync program
-  Coord[1].TimeBaseSlew=1 //1E-4 is default 
-  Coord[1].DesTimeBase=0
-  //Coord[1].Q[0]=-1 is done in the sync program
-        '''.format(crdId=crdId, flag0=flag0, flag1=flag1)
+        prg = f'''
+//Gather.Enable=2 is done in the triggerSync program
+Coord[1].TimeBaseSlew=1 //1E-4 is default
+Coord[1].DesTimeBase=0
+Coord[1].Q[0]=-3 //motion program started and waits. Arm(-2) is done in triggerSync program
+'''
 
       self.sync_prg = prg
       #download and start triggerSync code
       comm=self.comm
       if comm is None: return
 
-      arg=0 #argument to pass to triggerSync program
-      if sync_mode==2:arg+=1  #synchronize
-      arg+=sync_flag*2        #simulated or real triggers
-      if verbose: arg+=8
-      if sync_mode==2 or arg&4:
+      mode=0 #mode to pass to triggerSync program
+      if sync_mode==2:mode+=1  #synchronize
+      mode+=sync_flag*2        #simulated or real triggers
+      if verbose: mode+=8
+      if sync_mode==2 or mode&4:
         sftp = comm.sftp
         dst = '/tmp/triggerSync'
         src = os.path.abspath(os.path.join(os.path.dirname(__file__), 'triggerSync'))
         sftp.put(src, dst)
         sftp.chmod(dst, 0o755)
         cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
-        cmd+=' %g %g %d'%(pt2pt_time,timeOfs,arg)
+        #cmd+=' %d %g %g %g'%(mode,pt2pt_time,timeOfs,timeCor)
+        cmd+=' %d %g %g'%(mode,pt2pt_time+timeCor,timeOfs)
         self.cmdSync = cmd
         print ('starting '+cmd)
         self.syncShell=comm.shell_channel(cmd)