diff --git a/Readme.md b/Readme.md
index df23fd9..acfa3cd 100644
--- a/Readme.md
+++ b/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/
diff --git a/python/MXMotion.py b/python/MXMotion.py
index 222175c..9d96634 100644
--- a/python/MXMotion.py
+++ b/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)
diff --git a/python/ShapePathAnalyser/MAError.py b/python/ShapePathAnalyser/MAError.py
index e9dbaff..fedf632 100644
--- a/python/ShapePathAnalyser/MAError.py
+++ b/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)
diff --git a/python/ShapePathAnalyser/MAVelocity.py b/python/ShapePathAnalyser/MAVelocity.py
index 63b38cc..8dd40c7 100644
--- a/python/ShapePathAnalyser/MAVelocity.py
+++ b/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
diff --git a/python/shapepath.py b/python/shapepath.py
index 20751e8..f507e30 100755
--- a/python/shapepath.py
+++ b/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)
diff --git a/python/triggerSync b/python/triggerSync
new file mode 120000
index 0000000..9d47987
--- /dev/null
+++ b/python/triggerSync
@@ -0,0 +1 @@
+../src/triggerSync/triggerSync
\ No newline at end of file
diff --git a/src/triggerSync/triggerSync b/src/triggerSync/triggerSync
new file mode 100755
index 0000000..1fff135
Binary files /dev/null and b/src/triggerSync/triggerSync differ
diff --git a/src/triggerSync/triggerSync.c b/src/triggerSync/triggerSync.c
index 0a434b7..fafe8f2 100644
--- a/src/triggerSync/triggerSync.c
+++ b/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*40.2*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+=(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);
+ 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();
}
diff --git a/src/triggerSync/triggerSync.layout b/src/triggerSync/triggerSync.layout
index a2fe753..fe7fbee 100644
--- a/src/triggerSync/triggerSync.layout
+++ b/src/triggerSync/triggerSync.layout
@@ -4,7 +4,7 @@
-
+