add sample c realtime code

python/MXMotion.py

@@ -36,126 +36,53 @@ class MotionBase:
     self.gather=gather
     self.verbose=verbose
 
-  def setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
+  def setup_sync(self, crdId=1, prgId=2, plcId=2, encId=8, mode=0, **kwargs):
     '''setup the timing synchronization for the motion program
        mode=0 : no sync at all
        mode=1 : synchronize start
        mode=2 : synchronize start and adapt motion speed
-       this function generates the code blocks:
-       self.sync_wait and self.sync_run
-       sync_wait can be put in the program to force a timing sync
-       sync_run are the commands to run the whole program
+                this function generates the code blocks:
+                self.sync_wait and self.sync_run
+                sync_wait can be put in the program to force a timing sync
+                sync_run are the commands to run the whole program
        '''
-    if mode == 0:
+    if mode==0:
       try:
         del self.sync_prg
       except AttributeError:
         pass
       self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
 
-    elif mode in (1,2):
+    elif mode==1:
       # code block to insert in the program
       # - waits untis <flag> is false
       # - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
-
       # flag ='PowerBrick[0].GpioData[0].0.1==1'
-      flag0='Gate3[1].Chan[0].UserFlag==0'
-      flag1='Gate3[1].Chan[1].UserFlag==0'
+      flag0='Gate3[1].Chan[0].UserFlag'
+      flag1='Gate3[1].Chan[1].UserFlag'
+      flag0='P0';flag1='P1'
       prg = '''
-  //L0=Sys.PhaseCount
-  //send 1"sync0 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
   Coord[1].Q[1]=1
-  while({flag0}){{}}
-  //send 1"sync1 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
-  //L1=Sys.PhaseCount
-  while({flag1}){{}}
+  while({flag0}==0){{}}
+  while({flag1}==0){{}}
   Coord[1].Q[1]=2
-  //PowerBrick[0].GpioData[0].16.8=255
-  //send 1"sync2 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L1
   '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
       self.sync_prg = prg
       self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
-      if mode==2:
-        #frequence jitter 50Hz Swissgrid:
-        #https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
-        notFlag1 = 'Gate3[1].Chan[1].UserFlag!=0'
-        try:
-          prop=kwargs['prop'] #proportional value to adapt speed
-        except KeyError:
-          prop = .5E-4
-        try:
-          maxJitter = kwargs['maxJitter']  # proportional value to adapt speed
-        except KeyError:
-          maxJitter=100
-        prg='''close all buffers
-disable plc {plcId}
-open plc {plcId}
-Coord[1].DesTimeBase=Sys.ServoPeriod //reset to 100% timebase
-Coord[1].Q[0]=0 //set syncCnt counter to 0
-
-while({flag0}){{}} //wait Jungfrau start Trigger
-while({flag1}){{}} //ESx detector trigger
-
-
-{syncCnt}=0 //sync counter, sent when motion is on a crystal
-//{evnt} current PhaseCount event
-//{jitter} jitter: neg:motion lags trigger,pos:motion leads trigger
-//{syncEnvt} Prev syncEnvt PhaseCount
-{sync2sync}=0 // last syncEnvt-syncEnvt PhaseCount
-{dtb}=Sys.ServoPeriod //DesTimeBase
-//{tmp} temp variable
-
-while({syncCnt}>=0) //as long we are not at the last point
-{{
-  {syncCnt}=Coord[1].Q[0] //sync counter
-  while({flag1} && {syncCnt}==Coord[1].Q[0]){{}} //wait for event
-  {evnt}=Sys.PhaseCount   //a event happened
-  {jitter}=1000
-  //send 1"event\\n"
-  if({syncCnt}==Coord[1].Q[0])
-  {{//it was a trigger
-    //send 1"trigger %d %d %d\\n",{syncCnt},{evnt},{sync2sync}
-    while(Sys.PhaseCount<{evnt}+{maxJitter}) //wait half a trigger period for event
-    {{
-      if({syncCnt}!=Coord[1].Q[0])
-      {{//event syncCnt
-        {tmp}=Sys.PhaseCount
-        {sync2sync}={tmp}-{syncEnvt};{syncEnvt}={tmp}
-        {jitter}={evnt}-{tmp} //jitter: neg:motion lags trigger
-        break
-      }}
-    }}
-  }}
-  else
-  {{//it was a syncCnt
-    {sync2sync}={evnt}-{syncEnvt};{syncEnvt}={evnt}
-    //send 1"syncCnt %d %d %d\\n",{syncCnt},{evnt},{sync2sync}
-    while(Sys.PhaseCount<{evnt}+{maxJitter}) //wait half a trigger period for event
-    {{
-      if({notFlag1})
-      {{//event trigger
-        {jitter}=Sys.PhaseCount-{evnt} //jitter: pos:motion leads trigger
-        break
-      }}
-    }}
-  }}
-  if({jitter}!=1000 && {sync2sync}>0)
-  {{
-    {dtb}=Sys.ServoPeriod*(1-{prop}*{jitter})
-    //{dtb}={dtb}*(1-{jitter}/{sync2sync}*.5)
-    //send 1"syncCnt %d jitter %d sync2sync %d timebase: %f\\n",{syncCnt},{jitter},{sync2sync},{dtb}
-    Coord[1].DesTimeBase={dtb}
-  }}
-}}
-disable plc {plcId}
-close
-enable plc {plcId}
-'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1, notFlag1=notFlag1, prop=prop, maxJitter=maxJitter,
-           syncCnt='L0', evnt='L1', jitter='L2', syncEnvt='L3', sync2sync='L4', dtb='L5', tmp='L6')
-        comm=self.comm
-        if comm is not None:
-          gpascii=comm.gpascii
-          gpascii.send_block(prg)
+    elif mode==2:
+      #frequence jitter 50Hz Swissgrid:
+      #https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
+      flag0='Gate3[1].Chan[0].UserFlag'
+      flag1='Gate3[1].Chan[1].UserFlag'
+      flag0='P0';flag1='P1'
+      pt2pt_time=40
+      prg='''
+      Coord[1].Q[1]=1
+      Coord[1].DesTimeBase=0
+      Coord[1].Q[1]=2
+      '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
+      self.sync_prg=prg
+      self.sync_run='&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
 
   def run(self):
     'runs the code sync_run which has been generated with setup_sync()'

python/shapepath.py

@@ -616,7 +616,8 @@ class ShapePath(MotionBase):
       hl += ax.plot(jitter*ts, 'b-',label='jitter')
       ax.xaxis.set_label_text('position idx')
       ax.yaxis.set_label_text('jitter motion (ms)')
-      print('scaling of DesTimeBase: %f'%(float(idxInPos[num-1])/idxTrigger[num-1]))
+      if num>0:
+        print('scaling of DesTimeBase: %f'%(float(idxInPos[num-1])/idxTrigger[num-1]))
     plt.show()
 
   def bode_plot(self,xy=(0,1),mode=25,db=True):
@@ -724,7 +725,7 @@ if __name__=='__main__':
 
 
   def run_test(args):
-    args.host=None
+    #args.host=None
     if args.host is None:
       comm=gather=None
     else:
@@ -767,7 +768,7 @@ if __name__=='__main__':
     #sp.plot_gather()
     #return
     xy=False
-    sp.gen_rand_points(n=14, scale=1000);sp.sort_points(xy=xy)
+    #sp.gen_rand_points(n=14, scale=1000);sp.sort_points(xy=xy)
     #print(sp.points[:,0])
     #sp.gen_swissmx_points(width=1000, ofs=(-500, 0));
     #sp.points=np.array([[0.,1.],[1.,0.],[0.,-1.],[-1.,0.]])
@@ -779,9 +780,15 @@ if __name__=='__main__':
                         [0., 1.], [1., 0.], [0., -1.], [-1., 0.], [0., 1.]])
     #sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);
     #sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0))
-    sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0)
-    sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=1)
+    #sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0)
+    #sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=1)
+    sp.setup_gather(acq_per=2)
+    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.setup_motion(fnPrg=fn + '.prg', mode=3, pt2pt_time=40,scale=1)
+    sp.run()
+    sp.gather_upload(fnRec=fn+'.npz')
+    sp.plot_gather(mode=11)
     exit(0)
 
     # fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')