From 38888e02fd62b8198b1bcf589b79aa9cadb7d501 Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Fri, 25 Jan 2019 14:00:01 +0100 Subject: [PATCH] part 2 --- python/MXTuning.py | 329 +++++++------- python/ShapePathAnalyser/ShapePathAnalyser.py | 414 ++++++++++++++++++ 2 files changed, 575 insertions(+), 168 deletions(-) create mode 100755 python/ShapePathAnalyser/ShapePathAnalyser.py diff --git a/python/MXTuning.py b/python/MXTuning.py index 576931e..36bfd64 100755 --- a/python/MXTuning.py +++ b/python/MXTuning.py @@ -9,14 +9,13 @@ tuning functions for ESB-MX Modes: -1 full recording current step -2 full recording open loop -3 full recording closed loop -4 plot the full bode recording -5 plot the full bode recording with an approximation model -6 plot all raw acquired data files -7 custom chirp test -8 generate observer code (after files generated with matlab) +bit 0=1: record/plot current step +bit 1=2: custom chirp record/plot for IdCmd->ActPos transfer function +bit 1=4: custom chirp record/plot for DesPos->ActPos transfer function +bit 2=8: plot the full bode recording +bit 3=16: plot the full bode recording with an approximation model +bit 4=32: plot all raw acquired data files +bit 5=64: generate observer code (after files generated with matlab) -> check https://github.com/klauer/ppmac for fast data gathering server which supports phase gathering -> not yet compiling: /home/zamofing_t/Documents/prj/SwissFEL/PowerBrickInspector/ppmac/fast_gather @@ -42,14 +41,14 @@ class MXTuning(Tuning): def __init__(self,comm,gather): Tuning.__init__(self,comm,gather) + self.homed=False - def init_stage(self,force=True): + def init_stage(self,fn=''): comm=self.comm - if comm is None: return - gpascii=comm.gpascii - if force==False and gpascii.get_variable('Motor[1].HomeComplete', int) == 1: + if comm is None or self.homed or os.path.isfile(fn): return + gpascii=comm.gpascii sys.stdout.write('homing stage');sys.stdout.flush() gpascii.send_line('enable plc1') @@ -61,9 +60,10 @@ class MXTuning(Tuning): break sys.stdout.write('.');sys.stdout.flush() time.sleep(.2) + self.homed=True - def bode_model_plot(self, mot,base): - self.bode_full_plot(mot,base) + def bode_model_plot(self, mot): + self.bode_full_plot(mot,self.baseDir) fig=plt.gcf() _N=1.#E-3 # normalization factor: -> moves 3 decades to right but has factors around 1 # s -> ms @@ -115,7 +115,7 @@ class MXTuning(Tuning): print(mdl) d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'numc':numc.coeffs, 'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'denc':denc.coeffs} - fn=os.path.join(base,'model%d.mat'%mot) + fn=os.path.join(self.baseDir,'model%d.mat'%mot) import scipy.io scipy.io.savemat(fn, mdict=d) print('save to matlab file:'+fn) @@ -189,7 +189,7 @@ class MXTuning(Tuning): print(mdl) d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'num3':num3.coeffs,'num4':num4.coeffs,'num5':num5.coeffs,'numc':numc.coeffs, 'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'den3':den3.coeffs,'den4':den4.coeffs,'den5':den5.coeffs,'denc':denc.coeffs} - fn=os.path.join(base,'model%d.mat'%mot) + fn=os.path.join(self.baseDir,'model%d.mat'%mot) import scipy.io scipy.io.savemat(fn, mdict=d) print('save to matlab file:'+fn) @@ -345,6 +345,147 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid) plt.plot(t,data[:,0]-data[:,1]) plt.show() + def run(self,mode): + #plt.ion() + if mode&1: # full recording current step + plt.close('all') + self.homed=False + for mot in (1, 2): + fn=os.path.join(self.baseDir, 'curr_step%d.npz' % mot) + self.init_stage(fn) + self.bode_current(motor=mot, magMove=1000, magPhase=500, dwell=10, file=fn) + plt.show(block=False) + f=np.load(fn) + fn=fn[:-3]+'mat' + import scipy.io + scipy.io.savemat(fn, mdict=f) + print('save to matlab file:'+fn) + + if mode&2: + plt.close('all') + self.homed=False + motLst = (1, 2) # (2,)# + #recType: + # IA 0 IqCmd,ActPos (for plant transfer function) + # DA 1 DesPos,ActPos (for regulation transfer function) + # all 2 DesPos,ActPos,IqCmd,IqMeas,IqVolts (for current, plant and regulation transfer function) + + + #>>>>> IqCmd->ActPos transfer function (plant) using closed loop for low frequencies + for mot in motLst: + fn = os.path.join(self.baseDir, 'chirp_IA_%da.npz' % mot) + self.init_stage(fn) + self.custom_chirp(motor=mot, minFrq=1, maxFrq=15, amp=1000, tSec=15, recType=0,openLoop=False, file=fn) + self.homed=False + + #>>>>> IqCmd->ActPos transfer function (plant) using open loop for high frequencies + for ext,amp,minFrq,maxFrq,tSec in (('b', 10, 10, 100*1.5, 30), + ('c', 50, 100, 300*1.5, 30), + ('d', 50, 300, 1000*1.5, 10), + ('e', 100, 1000, 2000, 10)): + self.homed=False + for mot in motLst: + fn = os.path.join(self.baseDir, 'chirp_IA_%d%s.npz' % (mot,ext)) + self.init_stage(fn) + self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=0,openLoop=True, file=fn) + + if mode&4: + plt.close('all') + self.homed = False + motLst = (1, 2) # (2,)# + #>>>>> desPos->actPos transfer function (regulation) using closed loop + #motor1: 0dB at 20.4 Hz + #motor2: 0dB at 11.3 Hz + #1000um ampl. 15Hz ca. 2A current + #100um ampl. 15Hz ca. 200mA current + #100um at 11.3 Hz needs 100mA ->2A at sqrt(20)*11.3 =50Hz + #20um at 11.3 Hz needs 20mA ->2A at sqrt(100)*11.3 =113Hz + # 5um at 11.3 Hz needs 5mA ->2A at sqrt(2000/)*11.3 =226Hz + # 1um at 11.3 Hz needs 1mA ->2A at sqrt(2000)*11.3 =505Hz + + #n times freq, -> n^2 current + for ext,amp,minFrq,maxFrq,tSec in (('a', 100, 1, 30*1.5, 10), + ('b', 20, 30, 75*1.5, 15), + ('c', 5, 75, 150*1.5, 5), + ('d', 1, 150, 750, 5)): + self.homed=False + for mot in motLst: + fn = os.path.join(self.baseDir, 'chirp_DA_%d%s.npz' % (mot,ext)) + self.init_stage(fn) + self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=1,openLoop=False, file=fn) + + #>>>>> all data for different transfer function + for ext,amp,minFrq,maxFrq,tSec in (('a', 5, 10, 250, 10),): + self.homed=False + for mot in motLst: + fn = os.path.join(self.baseDir, 'chirp_all_%d%s.npz' % (mot,ext)) + self.init_stage(fn) + self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=2,openLoop=False, file=fn) + + if os.path.isfile(fn): + f = np.load(fn) + data = f['data'] + meta = f['meta'].item() + meta['file'] = file + if len(meta['address']) == 4: + for xy in ((0, 1), (0, 3), (2, 3)): + self.bode_plot(data, xy=xy, mode=25, **meta) + + if mode&8: #plot the full bode recording + plt.close('all') + self.bode_full_plot(mot=1,base=self.baseDir) + self.bode_full_plot(mot=2,base=self.baseDir) + + if mode&16: #plot the full bode recording with an approximation model + plt.close('all') + self.bode_model_plot(mot=1) + self.bode_model_plot(mot=2) + + if mode&32: # plot all raw acquired data files + # display bode plots + import glob + for fn in glob.glob(os.path.join(self.baseDir,'*.npz')): + fh = np.load(fn) + meta = fh['meta'].item() + data = fh['data'] + self.bode_plot(data, mode=25, **meta) + + if mode&64: #generater code + #before this can be done, the observer controller has to be designed with matlab: + #s.a.ESB_MX/matlab/Readme.md + #clear; + #clear global; + #close all; + #[mot1,mot2]=identifyFxFyStage(); + #[pb]=simFxFyStage(mot1); + #[ssc]=StateSpaceControlDesign(mot1); + #[pb]=simFxFyStage(mot2); + #[ssc]=StateSpaceControlDesign(mot2); + #after this go to: python/usr_code and call make to build the controller + #to activate the controller checkout: PBTools/pbtools/usr_servo_phase + base=os.path.dirname(__file__) + (hdr1,prog1)=self.usr_servo_gen_code('/tmp/ssc1.mat') + (hdr2,prog2)=self.usr_servo_gen_code('/tmp/ssc2.mat') + fn_ct=os.path.join(base,'usr_code/usrcode_template.c') + fn_ht=os.path.join(base,'usr_code/usrcode_template.h') + fnc=os.path.join(base,'usr_code/usrcode.c') + fnh=os.path.join(base,'usr_code/usrcode.h') + s=open(fn_ht).read() + s=s.replace('',hdr1+'\n\n'+hdr2) + fh=open(fnh,'w') + fh.write(s) + fh.close() + print(fnh+' generated.') + s=open(fn_ct).read() + s=s.replace('',prog1+'\n\n'+prog2) + fh=open(fnc,'w') + fh.write(s) + fh.close() + print(fnc+' generated.') + print('now compile it looking at PBTools/pbtools/usr_servo_phase/usrServoSample') + + print('done') + plt.show() @@ -390,8 +531,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n ' parser.add_argument('--host', help='hostname', metavar='HOST', default='SAR-CPPM-EXPMX1') parser.add_argument('--mode', '-m', type=int, help='modes (see below)', default=1) - parser.add_argument('--dir', help='dir', default=None) - + parser.add_argument('--dir', help='dir', default='MXTuning') args=parser.parse_args() #plt.ion() @@ -403,156 +543,9 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n ' comm = PPComm(host=args.host) gt = Gather(comm) tune=MXTuning(comm,gt) - base='MXTuning' - if args.dir is not None: - base=args.dir - assert(os.path.exists(base)) - #base=os.path.join(base,args.dir) - #if not os.path.exists(base): - # os.mkdir(base) - - - mode=args.mode - #plt.ion() - if mode==1: # full recording current step - homed=False - for mot in (1, 2): - fn=os.path.join(base, 'curr_step%d.npz' % mot) - if not os.path.isfile(fn) and not homed: tune.init_stage();homed=True - fig=plt.figure(mot) - tune.bode_current(motor=mot, magMove=1000, magPhase=500, dwell=10, file=fn,fig=fig) - plt.show(block=False) - f=np.load(fn) - fn=fn[:-3]+'mat' - import scipy.io - scipy.io.savemat(fn, mdict=f) - print('save to matlab file:'+fn) - - - elif mode==2: # full recording open loop - for mot in (1, 2): - fsin=os.path.join(base, 'sine_ol_mot%d.npz' % (mot)) - fcrp=os.path.join(base, 'chirp_ol_mot%d' % (mot)) - if not os.path.isfile(fsin): tune.init_stage();plt.close('all') - tune.bode_sine(openloop=True, file=fsin, motor=mot) - plt.show(block=False) - for ext,amp,minFrq,maxFrq,tSec in (('a', 10, 10, 300,30), - ('b', 50,100, 500,30), - ('c', 50,300,1500,10), - ('d',100,300,2000,10)): - f=fcrp+ext+'.npz' - if not os.path.isfile(f): tune.init_stage();plt.close('all') - tune.bode_chirp(openloop=True, file=f, motor=mot, amp=amp, minFrq=minFrq, maxFrq=maxFrq, tSec=tSec) - plt.show(block=False) - elif mode==3: # full recording closed loop - for mot in (1,2): - #fsin=os.path.join(base, 'sine_cl_mot%d.npz' % (mot)) - fcrp=os.path.join(base, 'chirp_cl_mot%d' % (mot)) - #if not os.path.isfile(fsin): tune.init_stage();plt.close('all') - #tune.bode_sine(openloop=False, file=fsin, motor=mot) - - #the generated program is prog 999 (only during acquisition) - # Gather.MaxLines=174762 -> ca 15 sec. is max. - #with higher frequency and amplitudes often is in DacLimit ! - for ext,amp,minFrq,maxFrq,tSec in (('a',100, 1, 200,15), - ('b', 20,10, 300,5), - ('c', 5,10, 300,5), - ('d', 1,10,1000,5), - ): - f=fcrp+ext+'.npz' - if not os.path.isfile(f): tune.init_stage();plt.close('all') - tune.bode_chirp(openloop=False, file=f, motor=mot, amp=amp, minFrq=minFrq, maxFrq=maxFrq, tSec=tSec) - plt.show(block=False) - elif mode==4: #plot the full bode recording - tune.bode_full_plot(mot=1,base=base) - tune.bode_full_plot(mot=2,base=base) - elif mode==5: #plot the full bode recording with an approximation model - tune.bode_model_plot(mot=1,base=base) - tune.bode_model_plot(mot=2,base=base) - - elif mode == 6: # plot all raw acquired data files - # display bode plots - import glob - for fn in glob.glob(os.path.join(base,'*.npz')): - if os.path.basename(fn).startswith('sine_ol_mot'): - tune.bode_sine(openloop=True, file=fn) - if os.path.basename(fn).startswith('chirp_ol_mot'): - tune.bode_chirp(openloop=True, file=fn) - if os.path.basename(fn).startswith('sine_cl_mot'): - tune.bode_sine(openloop=False, file=fn) - if os.path.basename(fn).startswith('chirp_cl_mot'): - tune.bode_chirp(openloop=False, file=fn) - elif mode==7: #further tests - fn='/tmp/cst_chirp0.npz' - motLst=(1, 2)#(2,)# - init_stage=False - for mot in motLst: - fn=os.path.join(base, 'cst_chirp_s_ol_%d.npz' % mot) - if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True - tune.custom_chirp(motor=mot,minFrq=100,maxFrq=1000,amp=50,tSec=15,mode=0,file=fn) - init_stage=False - for mot in motLst: - fn=os.path.join(base, 'cst_chirp_s_cl1_%d.npz' % mot) - if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True - tune.custom_chirp(motor=mot,minFrq=1,maxFrq=100,amp=20,tSec=15,mode=1,file=fn) - init_stage=False - for mot in motLst: - fn=os.path.join(base, 'cst_chirp_s_cl2a_%d.npz' % mot) - if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True - tune.custom_chirp(motor=mot,minFrq=1,maxFrq=30,amp=100,tSec=30,mode=2,file=fn) - for mot in motLst: - fn=os.path.join(base, 'cst_chirp_s_cl2b_%d.npz' % mot) - if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True - tune.custom_chirp(motor=mot,minFrq=20,maxFrq=150,amp=10,tSec=30,mode=2,file=fn) - init_stage=False - for mot in motLst: - fn=os.path.join(base, 'cst_chirp_s_cl2c_%d.npz' % mot) - if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True - tune.custom_chirp(motor=mot,minFrq=100,maxFrq=300,amp=1,tSec=30,mode=2,file=fn) - elif mode==8: #generater code - #before this can be done, the observer controller has to be designed with matlab: - #s.a.ESB_MX/matlab/Readme.md - #clear; - #clear global; - #close all; - #[mot1,mot2]=identifyFxFyStage(); - #[pb]=simFxFyStage(mot1); - #[ssc]=StateSpaceControlDesign(mot1); - #[pb]=simFxFyStage(mot2); - #[ssc]=StateSpaceControlDesign(mot2); - #after this go to: python/usr_code and call make to build the controller - #to activate the controller checkout: PBTools/pbtools/usr_servo_phase - base=os.path.dirname(__file__) - (hdr1,prog1)=tune.usr_servo_gen_code('/tmp/ssc1.mat') - (hdr2,prog2)=tune.usr_servo_gen_code('/tmp/ssc2.mat') - fn_ct=os.path.join(base,'usr_code/usrcode_template.c') - fn_ht=os.path.join(base,'usr_code/usrcode_template.h') - fnc=os.path.join(base,'usr_code/usrcode.c') - fnh=os.path.join(base,'usr_code/usrcode.h') - s=open(fn_ht).read() - s=s.replace('',hdr1+'\n\n'+hdr2) - fh=open(fnh,'w') - fh.write(s) - fh.close() - print(fnh+' generated.') - s=open(fn_ct).read() - s=s.replace('',prog1+'\n\n'+prog2) - fh=open(fnc,'w') - fh.write(s) - fh.close() - print(fnc+' generated.') - print('now compile it looking at PBTools/pbtools/usr_servo_phase/usrServoSample') - elif mode==9: #SCRATCH - motLst=(1, 2)#(2,)# - init_stage=False - for mot in motLst: - fn=os.path.join(base, 'scratch_%d.npz' % mot) - if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True - tune.custom_chirp(motor=mot,minFrq=1,maxFrq=20,amp=200,tSec=15,mode=2,file=fn) - elif mode==10: # record stage x and probe encoder - tune.check_fast_stage() - print('done') - plt.show() + tune.baseDir=args.dir + assert(os.path.exists(tune.baseDir)) + tune.run(args.mode) #------------------ Main Code ---------------------------------- #ssh_test()'/tmp/usrcode.c' ret=parse_args() diff --git a/python/ShapePathAnalyser/ShapePathAnalyser.py b/python/ShapePathAnalyser/ShapePathAnalyser.py new file mode 100755 index 0000000..4b783f2 --- /dev/null +++ b/python/ShapePathAnalyser/ShapePathAnalyser.py @@ -0,0 +1,414 @@ +#!/usr/bin/env python +# *-----------------------------------------------------------------------* +# | | +# | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) | +# | | +# | Author Thierry Zamofing (thierry.zamofing@psi.ch) | +# *-----------------------------------------------------------------------* +from __future__ import print_function +import os,sys +import wx +import wx.py +import numpy as np +from MAxyPlot import * +from MAError import * +from MAVelocity import * +#from hdfTree import * +#from hdfGrid import * +#from hdfAttrib import * +#from hdfImage import * + +import wxutils as ut +class MADoc(): + ''' + lenRec=fh['rec'] + lenPts=fh['pts'] + pts= X,Y array + + idx 0 1 2 3 4 5 6 + OLD Motor[3].ActPos Motor[2].ActPos Motor[1].ActPos Motor[3].DesPos Motor[2].DesPos Motor[1].DesPos Gate3[1].Chan[1].UserFlag + NEW Motor[1].ActPos Motor[2].ActPos Motor[1].DesPos Motor[2].DesPos Gate3[1].Chan[1].UserFlag + NEW y.ActPos x.ActPos y.DesPos x.DesPos Gate3[1].Chan[1].UserFlag + OLD->NEW + 0->none + 1->1 + 2->0 + 3->none + 4->3 + 5->2 + +Implemented messages +0: The time slider has changed. usrData=index +1: The position slider has changed. usrData=index + ''' + + def __init__(self): + self.view=[] #list of object that have view on this document + pass + + def OpenFile(self, fn_npz): + try: + self.fh=fh=np.load(fn_npz) + except IOError as e: + sys.stderr.write('Unable to open File: '+fn_npz+'\n') + else: + pass + + rec=fh['rec'] + pts=fh['pts'] + self.meta=meta=fh['meta'].item() + print(meta) + try: + ts=meta['timebase'] + except KeyError: + ts=self.meta['srv_per']*self.meta['acq_per']*1E-3 #0.2ms + self.ts=ts + + + lenRec=rec.shape[0] + lenPts=pts.shape[0] + #idxTrigger=np.hstack(([0],rec[:,4])) + #doc.idxTrigger=idxTrigger=np.where(np.diff(idxTrigger)==1)[0] + idxTrigger=rec[:,4] + self.idxTrigger=np.where(np.diff(idxTrigger)==1)[0]+1 + idxInPos=[] #first point at idx 0 + + idx=0 + for i in range(lenPts): + l=rec[idx:,(3,2)]-pts[i,:] + l2=l[:,0]**2+l[:,1]**2 + try: + ofs=l2.argmin() + except ValueError: + break#print(l2[ofs]) + idx+=ofs + idxInPos.append(idx) + #idx+=rng/2 + + self.idxInPos=np.array(idxInPos) + + + def Update(self,skipView,msg,usrData): + for v in self.view: + if v==skipView: continue + v.OnUpdate(msg,usrData) + + +class AboutFrame(wx.Frame): + def __init__(self,parent): + wx.Frame.__init__(self,parent,-1,'About MotionAnalyzer',size=(300,330)) + imgDir=ut.Path.GetImage() + icon = wx.Icon(os.path.join(imgDir,'PBMA.ico'), wx.BITMAP_TYPE_ICO) + self.SetIcon(icon) + self.Centre() + panel=wx.Panel(self,-1) + #import pkg_resources + #v=pkg_resources.get_distribution("h5pyViewer") + v='my version info' + s='Version:'+str(v)+'\n(c) www.psi.ch\n Author: Thierry Zamofing\n thierry.zamofing@psi.ch' + + st0=wx.StaticText(panel,-1,s,(30,10)) + bmp = wx.StaticBitmap(panel,-1,wx.Bitmap(os.path.join(imgDir,'PBMA.png'), wx.BITMAP_TYPE_ANY ), (30,st0.Position[1]+st0.Size[1]+10)) + for k,v in os.environ.iteritems(): + print(k,'=',v) + +class MAMainFrame(wx.Frame): + def __init__(self, parent, title,doc): + wx.Frame.__init__(self, parent, title=title, size=wx.Size(650, 230),style = wx.DEFAULT_FRAME_STYLE | wx.STAY_ON_TOP) + self.doc=doc;doc.view.append(self) + imgDir=ut.Path.GetImage() + icon = wx.Icon(os.path.join(imgDir,'PBMA.ico'), wx.BITMAP_TYPE_ICO) + self.SetIcon(icon) + #wxSplt = wx.SplitterWindow(self, -1) + #wxTree = HdfTreeCtrl(wxSplt, 1, wx.DefaultPosition, (-1,-1), wx.TR_HAS_BUTTONS) + #wxTree.Bind(wx.EVT_TREE_SEL_CHANGED, self.OnSelChanged, id=1) + #wxTree.Bind(wx.EVT_TREE_ITEM_MENU, self.OnMenu, id=1) + #wx.EVT_TREE_ITEM_MENU(id, func) + #wxTxt = wx.StaticText(wxSplt, -1, '',(10,10) )#, style=wx.ALIGN_CENTRE) + + + sizer = wx.BoxSizer(wx.VERTICAL) + self.SetSizer(sizer) + wxTxt = wx.StaticText(self, wx.ID_ANY, "MyLabel", wx.DefaultPosition, wx.DefaultSize, 0 ) + + sizer.Add(wxTxt, 1, wx.LEFT | wx.TOP | wx.GROW) + + wxTimeCtrl=ut.SliderGroup(self, label='DataPoint', range=(0, 1000)) + wxTimeCtrl.SetCallback(MAMainFrame.OnSetTime, wxTimeCtrl) + sizer.Add(wxTimeCtrl.sizer, 0, wx.EXPAND | wx.ALIGN_CENTER | wx.ALL, border=5) #wxSplt.SplitVertically(wxTree, wxTxt) + wxPosCtrl=ut.SliderGroup(self, label='IdxInPos', range=(0, 1000)) + wxPosCtrl.SetCallback(MAMainFrame.OnSetIdxInPos, wxPosCtrl) + sizer.Add(wxPosCtrl.sizer, 0, wx.EXPAND | wx.ALIGN_CENTER | wx.ALL, border=5) #wxSplt.SplitVertically(wxTree, wxTxt) + wxTrigCtrl=ut.SliderGroup(self, label='IdxTrigger', range=(0, 1000)) + wxTrigCtrl.SetCallback(MAMainFrame.OnSetIdxTrigger, wxTrigCtrl) + sizer.Add(wxTrigCtrl.sizer, 0, wx.EXPAND | wx.ALIGN_CENTER | wx.ALL, border=5) #wxSplt.SplitVertically(wxTree, wxTxt) + #wxSplt.SetMinimumPaneSize(320) + #wxLstCtrl=HdfAttrListCtrl(wxSplt) + #wxSplt.SplitVertically(wxTree, wxLstCtrl) + self.BuildMenu() + + self.Centre() + self.wxTimeCtrl=wxTimeCtrl + self.wxPosCtrl=wxPosCtrl + self.wxTrigCtrl=wxTrigCtrl + self.wxTxt=wxTxt + #self.wxTree=wxTree + #self.display=wxTxt + + def __del__(self): + self.CloseFile() + + def OpenFile(self,fn_npz): + doc=self.doc + doc.OpenFile(fn_npz) + s='content of numpy file: '+fn_npz+'\n' + fh=doc.fh + for k,v in fh.iteritems(): + s+=' '+k+': '+str(v.dtype)+' '+str(v.shape)+'\n' + self.wxTxt.SetLabel(s) + + idxInPos=doc.idxInPos + idxTrigger=doc.idxTrigger + rec=fh['rec'] + pts=fh['pts'] + lenRec=rec.shape[0] + lenPts=pts.shape[0] + + idx=min(idxInPos.shape[0],idxTrigger.shape[0])-1 + self.SetStatusText('scaling of DesTimeBase: %f'%(float(idxInPos[idx])/idxTrigger[idx])) + #self.PlotJitter() + + self.wxTimeCtrl.slider.SetRange(0,lenRec-1) + self.wxTimeCtrl.slider.SetPageSize(idxInPos[1]-idxInPos[0]) + self.wxPosCtrl.slider.SetRange(0,lenPts-1) + self.wxPosCtrl.slider.SetPageSize(10) + self.wxTrigCtrl.slider.SetRange(0,idxTrigger.shape[0]-1) + self.wxTrigCtrl.slider.SetPageSize(10) + + def CloseFile(self): + #http://docs.wxwidgets.org/2.8/wx_windowdeletionoverview.html#windowdeletionoverview + #print 'CloseFile' + try: + self.doc.fh.close() + del self.doc.fh + except AttributeError as e: + pass + + def PlotJitter(self): + doc=self.doc + fh=doc.fh + idxInPos=doc.idxInPos + idxTrigger=doc.idxTrigger + #display the jitter of inPos->trigger + ts=doc.ts + jitter=idxTrigger[:idxInPos.shape[0]]-idxInPos + import matplotlib.pyplot as plt # used for the colormaps + plt.figure('jitter inPos -> trigger: scaling of DesTimeBase: %f'%(float(idxInPos[-1])/idxTrigger[idxInPos.shape[0]-1])) + plt.plot(jitter*ts) + plt.ylabel('jitter in ms') + plt.ylabel('point idx') + plt.show() + + def DispJitter(self,idxInPos,idxTrigger): + doc=self.doc + ts=doc.ts + self.SetStatusText("Jitter: %.2gms scaling: %.6g"%((idxTrigger-idxInPos)*ts,float(idxInPos)/idxTrigger)) + + def OnOpen(self, event): + dlg = wx.FileDialog(self, "Choose a file", os.getcwd(), '','numpy files (*.npz;*.npy)|*.npz;*.npy|all (*.*)|*.*', wx.OPEN|wx.FD_CHANGE_DIR) + if dlg.ShowModal() == wx.ID_OK: + path = dlg.GetPath() + #mypath = os.path.basename(path) + #self.SetStatusText("You selected: %s" % mypath) + self.CloseFile() + self.OpenFile(path) + #print 'OnOpen',path + dlg.Destroy() + + def OnCloseWindow(self, event): + #print 'OnCloseWindow' + self.Destroy() + + def OnAbout(self,event): + frame=AboutFrame(self) + frame.Show() + + def BuildMenu(self): + #http://wiki.wxpython.org/AnotherTutorial#wx.MenuBar + mnBar = wx.MenuBar() + + #-------- File Menu -------- + mn = wx.Menu() + mnItem=mn.Append(wx.ID_OPEN, '&Open', 'Open a new document');self.Bind(wx.EVT_MENU, self.OnOpen, mnItem) + #mnSub = wx.Menu() + #mnItem=mnSub.Append(wx.ID_ANY, 'SubMenuEntry', 'My SubMenuEntry') + #mn.AppendMenu(wx.ID_ANY, 'SubMenu', mnSub) + mn.AppendSeparator() + mnItem=mn.Append(wx.ID_EXIT, '&Quit', 'Quit the Application');self.Bind(wx.EVT_MENU, self.OnCloseWindow, mnItem) + mnBar.Append(mn, '&File') + + self.Bind(wx.EVT_CLOSE, self.OnCloseWindow) + + #-------- Edit Menu -------- + mn = wx.Menu() + mnItem = mn.Append(wx.ID_ANY, 'Show &XY-Path', 'Show XY-path motion path');self.Bind(wx.EVT_MENU, self.OnShowXYPath, mnItem) + mnItem = mn.Append(wx.ID_ANY, 'Show &Error', 'Show error of motion path');self.Bind(wx.EVT_MENU, self.OnShowError, mnItem) + mnItem = mn.Append(wx.ID_ANY, 'Show &Velocity', 'Show velocity of motion path');self.Bind(wx.EVT_MENU, self.OnShowVelocity, mnItem) + mnItem = mn.Append(wx.ID_ANY, '&Python Shell', 'Opens an interactive python shell"');self.Bind(wx.EVT_MENU, self.OnShell, mnItem) + + mnBar.Append(mn, '&Window') + + #-------- Help Menu -------- + mn = wx.Menu() + #mnItem=mn.Append(wx.ID_HELP,'Help','Application Help') + mnItem=mn.Append(wx.ID_ABOUT,'About','Application About');self.Bind(wx.EVT_MENU, self.OnAbout, mnItem) + mnBar.Append(mn, '&Help') + + #mn.AppendSeparator() + #mnItem = wx.MenuItem(mn, 105, '&Quit\tCtrl+Q', 'Quit the Application') + #mnItem.SetBitmap(wx.Image('stock_exit-16.png', wx.BITMAP_TYPE_PNG).ConvertToBitmap()) + #mn.AppendItem(mnItem) + self.SetMenuBar(mnBar) + self.CreateStatusBar() + self.SetStatusText("This is the status message") + + def OnShowXYPath(self, event): + frame=MAxyPlotFrame(self,self.doc) + frame.Show(True) + + def OnShowError(self, event): + frame=MAErrorFrame(self,self.doc) + frame.Show(True) + + def OnShowVelocity(self, event): + frame=MAVelocityFrame(self,self.doc) + frame.Show(True) + + def OnShell(self, event): + frame = wx.Frame(self, -1, "wxPyShell",size=wx.Size(800, 500)) + imgDir=Path.GetImage() + icon = wx.Icon(os.path.join(imgDir,'PBMA.ico'), wx.BITMAP_TYPE_ICO) + frame.SetIcon(icon) + frame.Centre() + fh=app.GetTopWindow().fh + wnd=app.GetTopWindow() + loc={'app' :app, + 'fh' :fh, + 'pts' :fh['pts'], + 'rec' :fh['rec'] + } + introText='''Shell to the HDF5 objects +app: application object +fh: numpy file +pts: desired motion points +rec: recorded data + +#Examples: +pts +rec + +#using user defined modules +#import userSample as us;reload(us);us.test1(hid) +''' + shell=wx.py.shell.Shell(frame, introText=introText,locals=loc) + frame.Show(True) + #if loc is None, all variables are visible. the context is global + #shell.push('wnd=app.GetTopWindow()') + #for cmd in [ + # 'wnd=app.GetTopWindow();wxTree=wnd.wxTree', + # 'wxNode=wnd.wxTree.GetSelection()', + # 'print wnd.fid', + # 'lbl=wxTree.GetItemText(wxNode)', + # 'hid=wxTree.GetPyData(wxNode)']: + # shell.run(cmd, prompt=False) + + def OnUpdate(self,msg,usrData): + #this is the model-view-control update function + #print self,msg,usrData + pass + + @staticmethod + def OnSetTime(usrData, idxRec, msg): + 'called when the time slider has been changed' + #print('OnSetTime', usrData, value, msg) + view=usrData.slider.Parent + doc=view.doc + idxInPos=np.argmin(abs(doc.idxInPos-idxRec)) + view.wxPosCtrl.SetValue(idxInPos) + idxTrigger=np.argmin(abs(doc.idxTrigger-idxRec)) + view.wxTrigCtrl.SetValue(idxTrigger) + view.DispJitter(doc.idxInPos[idxInPos],doc.idxTrigger[idxTrigger]) + doc.Update(view,0,idxRec) + + @staticmethod + def OnSetIdxInPos(usrData, idxInPos, msg): + 'called when the idxInPos slider has been changed' + #print('OnSetPosIdx', usrData, value, msg) + view = usrData.slider.Parent + doc = view.doc + idxRec=doc.idxInPos[idxInPos] + view.wxTimeCtrl.SetValue(idxRec) + idxTrigger=np.argmin(abs(doc.idxTrigger-idxRec)) + view.wxTrigCtrl.SetValue(idxTrigger) + view.DispJitter(doc.idxInPos[idxInPos],doc.idxTrigger[idxTrigger]) + doc.Update(view, 0, idxRec) + + @staticmethod + def OnSetIdxTrigger(usrData, idxTrigger, msg): + 'called when the idxTrigger slider has been changed' + #print('OnSetIdxTrigger', usrData, value, msg) + view = usrData.slider.Parent + doc = view.doc + idxRec=doc.idxTrigger[idxTrigger] + view.wxTimeCtrl.SetValue(idxRec) + idxInPos=np.argmin(abs(doc.idxInPos-idxRec)) + view.wxPosCtrl.SetValue(idxInPos) + view.DispJitter(doc.idxInPos[idxInPos],doc.idxTrigger[idxTrigger]) + doc.Update(view, 0, idxRec) + + +if __name__ == '__main__': + def GetArgs(): + import sys,argparse #since python 2.7 + exampleCmd='/tmp/shapepath.npz' + parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter, + description=__doc__, + epilog='Example:\n'+os.path.basename(sys.argv[0])+' '+exampleCmd+'\n ') + parser.add_argument('npzFile', nargs='?', help='the npz file with motion path data to show',default='/tmp/shapepath.npz') + + args = parser.parse_args() + return args + + + class MyApp(wx.App): + + def OnInit(self): + args=GetArgs() + doc=MADoc() + frame = MAMainFrame(None,'PBMotionAnalyzer',doc) + if args.npzFile: + frame.OpenFile(args.npzFile) + frame.Show(True) + + f1 = MAxyPlotFrame(frame, doc) + f1.Show(True) + #f2= MAErrorFrame(frame, doc) + #f2.Show(True) + #f3= MAVelocityFrame(frame, doc) + #f3.Show(True) + + self.SetTopWindow(frame) + return True + +#------------------ Main Code ---------------------------------- + #redirect stdout/stderr: + #http://www.blog.pythonlibrary.org/2009/01/01/wxpython-redirecting-stdout-stderr/ + #https://groups.google.com/forum/#!topic/wxpython-users/S9uSKIYdYoo + #https://17677433047266577941.googlegroups.com/attach/e4d343dc6a751906/REDIRECT.PY?part=2&view=1&vt=ANaJVrFeyCjCMydKnkyfFbYJM7ip07mE-ozUIBxJ5A1QuK1GhycJYJsPTxpAaNk5L2LpXvGhzRPInxDt8_WUcUyK2Ois28Dq8LNebfYoWG9Yxr-tujf5Jk4 + #http://www.wxpython.org/docs/api/wx.PyOnDemandOutputWindow-class.html + rd=not sys.stdout.isatty()#have a redirect window, if there is no console + #rd=True #force to open a redirect window + rd=False #avoid a redirect window + app = MyApp(redirect=rd) + app.MainLoop() +