enhance triggering

Readme.md

@@ -1140,6 +1140,7 @@ zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python$
 
 cp -farL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py \
         ~/Documents/prj/SwissFEL/PBTools/pbtools/ \
+        ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/triggerSync/triggerSync \
         /sf/bernina/config/swissmx/zamofing_t/
 cp -farL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/ShapePathAnalyser/*.py \
         /sf/bernina/config/swissmx/zamofing_t/ShapePathAnalyser/

python/MXMotion.py

@@ -44,7 +44,7 @@ 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):
+  def setup_sync(self, crdId=1, prgId=2,verbose=False, timeOfs=0.):
     '''setup the timing synchronization for the motion program
        kwargs:
         sync_mode : default=2
@@ -122,7 +122,7 @@ class MotionBase:
         sftp.put(src, dst)
         sftp.chmod(dst, 0o755)
         cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
-        cmd+=' %g %d'%(pt2pt_time,arg)
+        cmd+=' %g %g %d'%(pt2pt_time,timeOfs,arg)
         self.cmdSync = cmd
         print ('starting '+cmd)
         self.syncShell=comm.shell_channel(cmd)

python/ShapePathAnalyser/MAError.py

@@ -56,7 +56,8 @@ class MPLCanvasErr(FigureCanvas):
     hl += ax.plot(erry, 'g-',label='y-error')
     hl += ax.plot(err, 'r-',label='error')
 
-    ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%meta['timebase'])
+    tb=meta['srv_per']*meta['acq_per']
+    ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%tb)
     ax.yaxis.set_label_text('pos-error um')
     legend = ax.legend(loc='upper right', shadow=True)
     ax.plot([.5,.5],[0.01, 0.99],'k',transform=ax.transAxes)

python/ShapePathAnalyser/MAVelocity.py

@@ -59,7 +59,8 @@ class MPLCanvasVelo(FigureCanvas):
     hl += ax.plot(velAct, 'r-',label='vel act')
     hl += ax.plot(velDes, 'r--',label='vel des')
 
-    ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%meta['timebase'])
+    tb=meta['srv_per']*meta['acq_per']
+    ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%tb)
     ax.yaxis.set_label_text('um/ms')
     legend = ax.legend(loc='upper right', shadow=True)
     #axvline(linewidth=4, color='r')
@@ -143,9 +144,9 @@ class MAVelocityFrame(wx.Frame):
     try:
       vel=doc.vel
     except AttributeError:
-      tb=meta['timebase']
+      tb=meta['srv_per']*meta['acq_per']
       #data points are um
-      #datapoint timebase: 2 ms () per data point
+      #datapoint tb= timebase of datapoint sampling
       #velocity: um/ms (deltatau desVel= motor units per serco cycle)
       rec=doc.fh['rec']
       velyAct = np.diff(rec[:, 0])/tb

python/shapepath.py

@@ -289,7 +289,7 @@ class DebugPlot:
     idxTrigger = np.where(np.diff(idxTrigger) == 1)[0] + 1
     if idxTrigger.shape[0] > 0:
       hl += ax.plot(rec[idxTrigger, 1], rec[idxTrigger, 0], 'xr', label='trig')  # actual path
-      hl2 += ax2.plot(rec[:, 4], 'b-', label='trigger')
+      hl2 += ax2.plot(rec[:, 4]*10, 'b-', label='trigger')
 
     ax.xaxis.set_label_text('x-pos um')
     ax.yaxis.set_label_text('y-pos um')
@@ -854,7 +854,8 @@ if __name__=='__main__':
     #sp.gen_closed_shifted()
     #sp.gen_swissmx_points(width=1000,ofs=(-500,0))
     #sp.gen_swissfel_points(width=1000,ofs=(-500,0))
-    sp.gen_rand_points(n=2000, scale=1000);sp.sort_points(xy=False)
+    #sp.gen_rand_points(n=20, scale=100,ofs=(-950,+2780));sp.sort_points(xy=False)
+    sp.gen_rand_points(n=200, scale=100,ofs=(0,+2000));sp.sort_points(xy=False)
     #sp.gen_swissmx_points(width=1000, ofs=(-500, 0));
     #sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0))
     #sp.gen_spiral_points(rStart=100,rInc=130,numSeg=4,numCir=2, ofs=(0, 0))
@@ -868,7 +869,7 @@ if __name__=='__main__':
     gtMaxLn=116508;ovhdTime=100
     acq_per=int(np.ceil((sp.meta['pt2pt_time']*sp.points.shape[0]+ovhdTime)/(gtMaxLn*sp.meta['srv_per'])))
     sp.setup_gather(acq_per=acq_per)
-    sp.setup_sync(verbose=args.verbose&32)
+    sp.setup_sync(verbose=args.verbose&32,timeOfs=0.55)
     sp.setup_coord_trf() # reset to shape path system
     #sp.meta['pt2pt_time']=10 #put between setup_sync and setup_motion to have more motion points than FEL syncs
     sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1.,dwell=10)

python/triggerSync

@@ -0,0 +1 @@
+../src/triggerSync/triggerSync

src/triggerSync/triggerSync.c

@@ -33,7 +33,7 @@
 extern struct SHM *pshm;
 static char mode=0;
 static float mtPt2Pt=40.f; //motion point to point time
-
+static float timeOfs=0.f; //time ofset
 #define CLOCK_RES 1e-9 //Clock resolution is 1 ns by default
 
 #define  SIMFLAG0 (pshm->Coord[1].Q[10])
@@ -115,10 +115,11 @@ void trigsync_func(void *arg)
   scStart=scLast=pshm->ServoCount;
   mtAct=0.f;
   pshm->Coord[1].Q[0]=0;
-  pshm->Coord[1].DesTimeBase=srvPer;  //start motion at default speed
+  srvPer=0.2f;
+  //pshm->Coord[1].DesTimeBase=srvPer;  //start motion at default speed
+  pshm->Coord[1].DesTimeBase=srvPer*(mtPt2Pt+timeOfs)/mtPt2Pt;  //start motion at default speed
   if(mode&8)
-    printf("Start: %d, rtDiff: %.3f ms scDiff %d mtAct %.3f mtDes %.3f srvPer %.6f\n", i, rtLast/1E6,scLast, mtAct,mtDes,srvPer);
+    printf("Start: rtStart:%.3f ms scStart:%d mtAct:%.3f mtDes:%.3f srvPer:%.6f\n", i, rtLast/1E6,scLast, mtAct,mtDes,srvPer);
-
 
   for(i=1;pshm->Gather.Enable;i++)
   {
@@ -145,12 +146,12 @@ void trigsync_func(void *arg)
     scDiff=scCur-scLast;
 
     mtAct+=scDiff*srvPer;
-    mtDes=i*mtPt2Pt;
+    mtDes=i*mtPt2Pt+timeOfs;
     srvPer=(mtPt2Pt+mtDes-mtAct)/scDiff;
     pshm->Coord[1].DesTimeBase=srvPer;
     pshm->Coord[1].Q[0]++;
     if(mode&8)
-      printf("Trigger count: %d, rtDiff: %.3f ms scDiff %d mtAct %.3f mtDes %.3f srvPer %.6f\n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer);
+      printf("Trigger count:%d, rtDiff:%.3fms scDiff:%d mtAct:%.3f mtDes:%.3f srvPer:%.6f\n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer);
     rtLast=rtCur;
     scLast=scCur;
   }
@@ -179,8 +180,8 @@ void trigsim_func(void *arg)
 
   for(i=0,rtSlice=rtStart;;i++)
   {
-    //rtSlice=rtStart+i*40*1E6; // a slice is 40 ms
+    rtSlice=rtStart+i*40*1E6; // a slice is 40 ms
-    rtSlice=rtStart+i*40.2*1E6; // a slice is 40 ms
+    //rtSlice=rtStart+i*40.2*1E6; // a slice is 40 ms
     //rtSlice+=(rand()%(int)(1*1E6)); //0.1ms jitter
     rt_task_sleep_until(rtSlice); //in ns
     if(mode&4)
@@ -296,7 +297,7 @@ Coord[1].Q[0]= 0 : got frame trigger 0\n\
 Coord[1].Q[0] is incremented at each trigger\n\
 sync task ends when Gather.Enable==0\n\
 ";
-  printf("usage:\n%s pt2ptTime mode\n",cmd);
+  printf("usage:\n%s pt2ptTime timeOfs mode\n",cmd);
   puts(s);
   return -1;
 }
@@ -307,15 +308,22 @@ int main(int argc, char *argv[])
     int initialized=0;
     int i;
     char *s;
-    if(argc!=3)
+    if(argc!=4)
       return usage(argv[0]);
     mtPt2Pt=strtof(argv[1], &s);
     if (argv[1]==s)
       return usage(argv[0]);
-    mode= (int)strtol(argv[2], &s, 10);
+    timeOfs=strtof(argv[2], &s);
     if (argv[2]==s)
       return usage(argv[0]);
-
+    mode=(int)strtol(argv[3], &s, 10);
+    if (argv[3]==s)
+      return usage(argv[0]);
+    puts(argv[0]);
+    puts(argv[1]);
+    puts(argv[2]);
+    puts(argv[3]);
+    printf("mtPt2Pt:%g timeOfs:%g mode:%d\n",mtPt2Pt,timeOfs,mode);
     if ((err = InitLibrary()) != 0) {
         abort();
     }

src/triggerSync/triggerSync.layout

@@ -4,7 +4,7 @@
 	<ActiveTarget name="Debug" />
 	<File name="triggerSync.c" open="1" top="1" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
 		<Cursor>
-			<Cursor1 position="3035" topLine="181" />
+			<Cursor1 position="6215" topLine="189" />
 		</Cursor>
 	</File>
 	<File name="Makefile" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">