From 40246e95e036272db4fc087cae0aeb79acffb599 Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Mon, 15 Oct 2018 17:25:00 +0200 Subject: [PATCH] wip --- Readme.md | 16 +- python/shapepath.py | 495 ++++++++++++++++++++++++++------------------ 2 files changed, 305 insertions(+), 206 deletions(-) diff --git a/Readme.md b/Readme.md index 54ec6d8..8f9f0c8 100644 --- a/Readme.md +++ b/Readme.md @@ -1092,8 +1092,20 @@ cpx ;linear abs; X0 Z0 Y575 B0 cpx ;linear abs; X0 Z0 Y575 B100000 ``` -Matlab models 3.10.2018 ------------------------ +Software esbMX deploy +--------------------- ``` +zamofing_t@ganymede:~$ ll /sf/bernina/config/swissmx/zamofing_t/ + /sf/bernina/config/swissmx/ + ssh sf-cons-01 +ssh saresb-cons-01 +source /opt/gfa/python +source activate /sf/bernina/config/swissmx/conda/envs/b440_clone +zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python$ +cp *.py /sf/bernina/config/swissmx/zamofing_t +cp ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py ~/Documents/prj/SwissFEL/PBTools/ /sf/bernina/config/swissmx/zamofing_t + +cp -rL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py ~/Documents/prj/SwissFEL/PBTools/pbtools/ /sf/bernina/config/swissmx/zamofing_t/ + ``` diff --git a/python/shapepath.py b/python/shapepath.py index d6f54e0..c43a018 100755 --- a/python/shapepath.py +++ b/python/shapepath.py @@ -57,86 +57,140 @@ import matplotlib.pyplot as plt import subprocess as sprc sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/')) +#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t') +#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t/pbtools/misc/') from pbtools.misc.pp_comm import PPComm from pbtools.misc.gather import Gather from MXMotion import MotionBase class ShapePath(MotionBase): - def __init__(self,comm, gather, verbose): - MotionBase.__init__(self,comm, gather, verbose) + def __init__(self,comm, gather, verbose): + MotionBase.__init__(self,comm, gather, verbose) - def run_test(self,cfg,dryrun=False): - print('cfg='+str(cfg)) + def gen_swissfel_points(self,scale=10): + 'generathe a path that writes swissfel' + #string from inkscape path of the drawing + d="m 15.801613,951.54022 -1.655274,-0.17578 -1.809082,-0.52002 0,-1.52344 1.765137,0.76172 1.699219,0.25635 1.955566,-0.49805 0.688477,-1.4209 -0.498047,-1.25976 -1.618652,-0.68115 -0.900879,-0.17578 -1.426392,-0.42298 -0.968628,-0.60974 -0.739746,-1.95557 0.254516,-1.29638 0.76355,-0.98877 1.217652,-0.62622 1.602173,-0.20874 1.567383,0.13916 1.6333,0.41748 0,1.44287 -1.589355,-0.60059 -1.442871,-0.19775 -1.071167,0.11719 -0.796509,0.35156 -0.651856,1.33301 0.432129,1.09863 1.655274,0.59326 0.893555,0.18311 1.437377,0.43579 1.001587,0.67749 0.593262,0.92651 0.197754,1.19751 -0.267334,1.3971 -0.802002,1.01257 -1.311035,0.61523 2.995605,-0.004 2.995606,-0.004 -0.536499,-2.05078 -0.536499,-2.05078 -0.536499,-2.05079 -0.536499,-2.05078 1.347656,0 0.421142,1.60034 0.421143,1.60034 0.421143,1.60035 0.421142,1.60034 0.419312,-1.60034 0.419311,-1.60035 0.419312,-1.60034 0.419311,-1.60034 1.589356,0 0.421142,1.60034 0.421143,1.60034 0.421143,1.60035 0.421142,1.60034 0.419312,-1.60034 0.419311,-1.60035 0.419312,-1.60034 0.419311,-1.60034 1.347657,0 -0.536499,2.05078 -0.5365,2.05079 -0.536499,2.05078 -0.536499,2.05078 -1.589355,0 -0.441284,-1.68091 -0.441285,-1.68091 -0.441284,-1.6809 -0.441284,-1.68091 -0.443115,1.68091 -0.443116,1.6809 -0.443115,1.68091 -0.443115,1.68091 2.330933,-8e-5 2.330933,-8e-5 2.330932,-8e-5 2.330933,-8e-5 0,-2.05078 0,-2.05078 0,-2.05079 0,-2.05078 0.673828,-1.48681 0.673828,0 0,-0.85327 0,-0.85327 -0.673828,0 -0.673828,0 0,0.85327 0,0.85327 0.673828,1.48681 0.673828,0 0,2.05078 0,2.05079 0,2.05078 0,2.05078 2.545166,0.1062 2.545166,0.1062 -1.376953,-0.13183 -1.501465,-0.38086 0,-1.3916 1.472168,0.58593 1.435547,0.19043 1.464844,-0.32226 0.512695,-0.92285 -0.373535,-0.84229 -1.038789,-0.41935 -1.048614,-0.25448 -1.078491,-0.33325 -0.730591,-0.47241 -0.55664,-1.50147 0.205078,-1.02539 0.615234,-0.76172 0.99243,-0.47241 1.336672,-0.15747 1.40625,0.10986 1.21582,0.32959 0,1.27442 -1.186523,-0.43946 -1.274414,-0.14648 -1.508789,0.30762 -0.498047,0.92285 0.358886,0.73975 0.763094,0.30189 0.76857,0.22893 0.785513,0.20842 0.813927,0.24037 0.809326,0.49988 0.455932,0.66833 0.151978,0.89173 -0.227051,1.02355 -0.681152,0.78553 -1.071167,0.49988 3.205262,0.0833 3.205261,0.0833 -1.376953,-0.13183 -1.501465,-0.38086 0,-1.3916 1.472168,0.58593 1.435547,0.19043 1.464843,-0.32226 0.512696,-0.92285 -0.373536,-0.84229 -1.038789,-0.41935 -1.048613,-0.25448 -1.078491,-0.33325 -0.730591,-0.47241 -0.556641,-1.50147 0.205078,-1.02539 0.615235,-0.76172 0.99243,-0.47241 1.336672,-0.15747 1.40625,0.10986 1.21582,0.32959 0,1.27442 -1.186524,-0.43946 -1.274414,-0.14648 -1.508789,0.30762 -0.498047,0.92285 0.358887,0.73975 0.805073,0.3095 0.76935,0.22988 0.764915,0.20509 0.791765,0.23514 0.809327,0.49988 0.455932,0.66833 0.151978,0.89173 -0.227051,1.02355 -0.681152,0.78553 -1.071167,0.49988 2.095642,-0.0229 2.095642,-0.0229 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 1.571045,0 1.571045,0 1.571045,0 1.571045,0 0,1.24512 -1.201172,0 -1.201172,0 -1.201172,0 -1.201172,0 0,0.80566 0,0.80567 0,0.80566 0,0.80566 1.083984,0 1.083985,0 1.083984,0 1.083985,0 0,1.24512 -1.083985,0 -1.083984,0 -1.083985,0 -1.083984,0 0,1.30554 0,1.30555 0,1.30554 0,1.30554 3.581543,0 3.581543,0 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 1.728516,0 1.728516,0 1.728515,0 1.728516,0 0,1.24512 -1.358643,0 -1.358642,0 -1.358643,0 -1.358643,0 0,0.80932 0,0.80933 0,0.80933 0,0.80932 1.30188,0 1.30188,0 1.30188,0 1.30188,0 0,1.24512 -1.30188,0 -1.30188,0 -1.30188,0 -1.30188,0 0,0.9906 0,0.9906 0,0.9906 0,0.9906 1.391602,0 1.391601,0 1.391602,0 1.391602,0 0,1.24512 -3.587581,3.8e-4 -1.964972,0 3.702844,0 4.295998,0 0,-1.36733 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 1.479492,0 0,1.21124 0,1.21124 0,1.21125 0,1.21124 0,1.21124 0,1.21124 0,1.21125 0,1.21124 1.331177,0 1.331177,0 1.331176,0 1.331177,0 0,1.24512 -1.70105,0 -1.701049,0 -1.70105,0" + d=d.split() + pts=np.ndarray((len(d)-1,2),dtype=np.float) + for i in xrange(pts.shape[0]): + pts[i,:]=map(float,d[i+1].split(',')) + + pts[0,:]=(5,0) + pts=pts.cumsum(0) + pts[:,1]=-pts[:,1] + pts*=scale + self.points=pts + + verb=self.verbose + if verb&2: + self.plot_points(pts) + plt.show() + + def gen_rand_points(self,n=107,scale=1000): + 'generate random distributed points' + np.random.seed(0) + #data=np.random.randint(0,1000,(30,2)) + pts=np.random.rand(n,2)*scale + self.points=pts + + def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2): + 'generates points in a grid with a given pitch and a bit randomness' + np.random.seed(0) + xx,yy=np.meshgrid(range(w), range(h)) + pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch + if rnd != 0: + pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch)) + pts[:,0]+=500 + self.points=pts + + def opt_pts(self,fn): + ''' + trial to optimize path by mofing trajectory, uload real path and move the points + to finally go trough the desired points + ''' + fh=np.load(fn) + #res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos + #idx 0 1 2 3 4 5 + rec=fh['rec'] + pts=fh['pts'] + desPos=rec[:,4:6] + + idx=np.ndarray(shape=len(pts),dtype=np.int32) + for i in range(len(pts)): + l=desPos-pts[i,:] + l2=l[:,0]**2+l[:,1]**2 + idx[i]=np.argmin(l2) + + recPts=rec[idx,:] + ptsCorr=(pts-recPts[:,1:3]+recPts[:,4:6]) + self.points=pts + self.ptsCorr=ptsCorr + print(ptsCorr) + + def setup_gather(self,acq_per=1): + ''' + setup the channels to gather + kwargs: + acq_per : acquire period: acquire data all acq_per servo loops (default=1) + ''' + comm=self.comm + gt=self.gather + gt.set_phasemode(False) + gt.set_address("Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].DesPos") + gt.set_property(MaxSamples=1000000, Period=acq_per) + ServoPeriod= .2 #0.2ms #Sys.ServoPeriod is dependent of !common() macro + #ServoPeriod=comm.gpascii.servo_period + self.meta = {'timebase': ServoPeriod*acq_per} + + def setup_sync(self,crdId=1,prgId=2,plcId=2,mode=0,**kwargs): + '''setup the timing synchronization for the motion program + mode=0 : no sync at all + mode=1 : first sync test + 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 + ''' + gpascii=self.comm.gpascii + if mode==0: try: - self.points=np.array(cfg['points']) - except KeyError: + del self.sync_wait + except AttributeError: pass - try: - sequencer= cfg['sequencer'] - except KeyError: - print('no command sequence to execute') - else: - for cmd in sequencer: - print('>'*5+' '+cmd+' '+'<'*5) - if not dryrun: - eval('self.' + cmd) + self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId) - def gen_swissfel_points(self,scale=10): - #string from inkscape path of the drawing - d="m 15.801613,951.54022 -1.655274,-0.17578 -1.809082,-0.52002 0,-1.52344 1.765137,0.76172 1.699219,0.25635 1.955566,-0.49805 0.688477,-1.4209 -0.498047,-1.25976 -1.618652,-0.68115 -0.900879,-0.17578 -1.426392,-0.42298 -0.968628,-0.60974 -0.739746,-1.95557 0.254516,-1.29638 0.76355,-0.98877 1.217652,-0.62622 1.602173,-0.20874 1.567383,0.13916 1.6333,0.41748 0,1.44287 -1.589355,-0.60059 -1.442871,-0.19775 -1.071167,0.11719 -0.796509,0.35156 -0.651856,1.33301 0.432129,1.09863 1.655274,0.59326 0.893555,0.18311 1.437377,0.43579 1.001587,0.67749 0.593262,0.92651 0.197754,1.19751 -0.267334,1.3971 -0.802002,1.01257 -1.311035,0.61523 2.995605,-0.004 2.995606,-0.004 -0.536499,-2.05078 -0.536499,-2.05078 -0.536499,-2.05079 -0.536499,-2.05078 1.347656,0 0.421142,1.60034 0.421143,1.60034 0.421143,1.60035 0.421142,1.60034 0.419312,-1.60034 0.419311,-1.60035 0.419312,-1.60034 0.419311,-1.60034 1.589356,0 0.421142,1.60034 0.421143,1.60034 0.421143,1.60035 0.421142,1.60034 0.419312,-1.60034 0.419311,-1.60035 0.419312,-1.60034 0.419311,-1.60034 1.347657,0 -0.536499,2.05078 -0.5365,2.05079 -0.536499,2.05078 -0.536499,2.05078 -1.589355,0 -0.441284,-1.68091 -0.441285,-1.68091 -0.441284,-1.6809 -0.441284,-1.68091 -0.443115,1.68091 -0.443116,1.6809 -0.443115,1.68091 -0.443115,1.68091 2.330933,-8e-5 2.330933,-8e-5 2.330932,-8e-5 2.330933,-8e-5 0,-2.05078 0,-2.05078 0,-2.05079 0,-2.05078 0.673828,-1.48681 0.673828,0 0,-0.85327 0,-0.85327 -0.673828,0 -0.673828,0 0,0.85327 0,0.85327 0.673828,1.48681 0.673828,0 0,2.05078 0,2.05079 0,2.05078 0,2.05078 2.545166,0.1062 2.545166,0.1062 -1.376953,-0.13183 -1.501465,-0.38086 0,-1.3916 1.472168,0.58593 1.435547,0.19043 1.464844,-0.32226 0.512695,-0.92285 -0.373535,-0.84229 -1.038789,-0.41935 -1.048614,-0.25448 -1.078491,-0.33325 -0.730591,-0.47241 -0.55664,-1.50147 0.205078,-1.02539 0.615234,-0.76172 0.99243,-0.47241 1.336672,-0.15747 1.40625,0.10986 1.21582,0.32959 0,1.27442 -1.186523,-0.43946 -1.274414,-0.14648 -1.508789,0.30762 -0.498047,0.92285 0.358886,0.73975 0.763094,0.30189 0.76857,0.22893 0.785513,0.20842 0.813927,0.24037 0.809326,0.49988 0.455932,0.66833 0.151978,0.89173 -0.227051,1.02355 -0.681152,0.78553 -1.071167,0.49988 3.205262,0.0833 3.205261,0.0833 -1.376953,-0.13183 -1.501465,-0.38086 0,-1.3916 1.472168,0.58593 1.435547,0.19043 1.464843,-0.32226 0.512696,-0.92285 -0.373536,-0.84229 -1.038789,-0.41935 -1.048613,-0.25448 -1.078491,-0.33325 -0.730591,-0.47241 -0.556641,-1.50147 0.205078,-1.02539 0.615235,-0.76172 0.99243,-0.47241 1.336672,-0.15747 1.40625,0.10986 1.21582,0.32959 0,1.27442 -1.186524,-0.43946 -1.274414,-0.14648 -1.508789,0.30762 -0.498047,0.92285 0.358887,0.73975 0.805073,0.3095 0.76935,0.22988 0.764915,0.20509 0.791765,0.23514 0.809327,0.49988 0.455932,0.66833 0.151978,0.89173 -0.227051,1.02355 -0.681152,0.78553 -1.071167,0.49988 2.095642,-0.0229 2.095642,-0.0229 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 1.571045,0 1.571045,0 1.571045,0 1.571045,0 0,1.24512 -1.201172,0 -1.201172,0 -1.201172,0 -1.201172,0 0,0.80566 0,0.80567 0,0.80566 0,0.80566 1.083984,0 1.083985,0 1.083984,0 1.083985,0 0,1.24512 -1.083985,0 -1.083984,0 -1.083985,0 -1.083984,0 0,1.30554 0,1.30555 0,1.30554 0,1.30554 3.581543,0 3.581543,0 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 1.728516,0 1.728516,0 1.728515,0 1.728516,0 0,1.24512 -1.358643,0 -1.358642,0 -1.358643,0 -1.358643,0 0,0.80932 0,0.80933 0,0.80933 0,0.80932 1.30188,0 1.30188,0 1.30188,0 1.30188,0 0,1.24512 -1.30188,0 -1.30188,0 -1.30188,0 -1.30188,0 0,0.9906 0,0.9906 0,0.9906 0,0.9906 1.391602,0 1.391601,0 1.391602,0 1.391602,0 0,1.24512 -3.587581,3.8e-4 -1.964972,0 3.702844,0 4.295998,0 0,-1.36733 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 1.479492,0 0,1.21124 0,1.21124 0,1.21125 0,1.21124 0,1.21124 0,1.21124 0,1.21125 0,1.21124 1.331177,0 1.331177,0 1.331176,0 1.331177,0 0,1.24512 -1.70105,0 -1.701049,0 -1.70105,0" - d=d.split() - pts=np.ndarray((len(d)-1,2),dtype=np.float) - for i in xrange(pts.shape[0]): - pts[i,:]=map(float,d[i+1].split(',')) + elif mode==1: + # changes the Timebase of coord system + # modifies the timebase to start/stop a running program + # this can also be used to adjust the execution speed + # the plc for now + # - waits untis is false + # - waits raising edge of and the sets DesTimeBase=ServoPeriod - pts[0,:]=(5,0) - pts=pts.cumsum(0) - pts[:,1]=-pts[:,1] - pts*=scale - self.points=pts + #flag ='PowerBrick[0].GpioData[0].0.1==1' + flag ='Gate3[1].Chan[0].UserFlag==1' + prg='''close all buffers +open plc {plcId} +Coord[{crdId}].DesTimeBase=0 // freezes timebase at boot +while(flag){{}} +while(1) +{{ + if({flag}) + {{ + PowerBrick[0].GpioData[0].16.8=255 + Coord[{crdId}].DesTimeBase=Sys.ServoPeriod + break + }} +}} +close +'''.format(plcId=plcId,crdId=crdId,flag=flag) + gpascii.send_block(prg) + self.sync_wait='Coord[{crdId}].DesTimeBase=0;enable plc {plcId}'.format(plcId=plcId,crdId=crdId) + self.sync_run='Coord[{crdId}].DesTimeBase=0;&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId) - verb=self.verbose - if verb&2: - self.plot_points(pts) - plt.show() - - def gen_rand_points(self,n=107,scale=1000): - np.random.seed(0) - #data=np.random.randint(0,1000,(30,2)) - pts=np.random.rand(n,2)*scale - self.points=pts - - def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2): - np.random.seed(0) - xx,yy=np.meshgrid(range(w), range(h)) - pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch - if rnd != 0: - pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch)) - pts[:,0]+=500 - self.points=pts - - def opt_pts(self,fn): - fh=np.load(fn) - #res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos - #idx 0 1 2 3 4 5 - rec=fh['rec'] - pts=fh['pts'] - desPos=rec[:,4:6] - - idx=np.ndarray(shape=len(pts),dtype=np.int32) - for i in range(len(pts)): - l=desPos-pts[i,:] - l2=l[:,0]**2+l[:,1]**2 - idx[i]=np.argmin(l2) - - recPts=rec[idx,:] - ptsCorr=(pts-recPts[:,1:3]+recPts[:,4:6]) - self.points=pts - self.ptsCorr=ptsCorr - print(ptsCorr) - - def move_trajectory(self,prgId=2,fnPrg=None,mode=0,**kwargs): + def setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs): ''' 1. generates program and saves to fnPrg the type of generated program is defined by @@ -145,24 +199,9 @@ class ShapePath(MotionBase): acq_per : acquire period: acquire data all acq_per servo loops (default=1) pt2pt_time : time to move from one point to the next point ''' - prg=[] - acq_per=kwargs.get('acq_per',1) - gather={"MaxSamples":1000000, "Period":acq_per} - #Sys.ServoPeriod is dependent of !common() macro - ServoPeriod= .2 #0.2ms - #ServoPeriod = .05 - self.meta = {'timebase': ServoPeriod*gather['Period']} - #channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"] - channels=["Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].DesPos"] - prg.append('Gather.Enable=0') - prg.append('Gather.Items=%d'%len(channels)) - for k,v in gather.iteritems(): - prg.append('Gather.%s=%d'%(k,v)) - for i,c in enumerate(channels): - prg.append('Gather.Addr[%d]=%s.a'%(i,c)) - - - prg.append('open prog %d'%(prgId)) + prg=['close all buffers','open prog %d'%(prgId)] + comm=self.comm + gpascii=comm.gpascii # this uses Coord[1].Tm and limits with MaxSpeed if mode==-1: #### jog a 10mm square pos=self.points @@ -200,7 +239,6 @@ class ShapePath(MotionBase): cnt=kwargs['cnt'] #move path multiple times except KeyError: cnt=1 - try: pt=self.ptsCorr except AttributeError: @@ -221,6 +259,12 @@ class ShapePath(MotionBase): prg.append(' linear abs') prg.append('X%g Y%g' % tuple(pv[0, (0,1)])) prg.append('dwell 10') + try: + prg.append(self.sync_wait) + except AttributeError: + pass + else: + print('no sync code available') prg.append('Gather.Enable=2') if cnt>1: prg.append('P100=%d'%cnt) @@ -264,7 +308,7 @@ class ShapePath(MotionBase): prg.append('Gather.Enable=0') prg.append('close') - prg.append('&1\nb%dr\n'%prgId) + #prg.append('&1\nb%dr\n'%prgId) if self.verbose & 4: for ln in prg: print(ln) @@ -273,120 +317,137 @@ class ShapePath(MotionBase): fh=open(fnPrg,'w') fh.write('\n'.join(prg)) fh.close() - if self.host is not None: - cmd ='gpasciiCommander --host '+self.host+' '+ fnPrg - print(cmd) - p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT) - #res=p.stdout.readlines(); print res - retval = p.wait() + gpascii.send_block(prg) + + #if self.host is not None: + # cmd ='gpasciiCommander --host '+self.host+' '+ fnPrg + # print(cmd) + # p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT) + # #res=p.stdout.readlines(); print res + # retval = p.wait() self.prg=prg - def gather_upload(self,fnRec=None): - #gather -u /var/ftp/gather/out.txt - cmd ='PBGatherPlot -m24 -v7 --host '+self.host - print(cmd) - p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT) - retval = p.wait() - fnLoc='/tmp/gather.txt' - self.rec =rec = np.genfromtxt(fnLoc, delimiter=' ') - pts=self.points + def run(self): + 'runs the code sync_run which has been generated with setup_sync()' + comm = self.comm + gpascii = comm.gpascii + try: + cmd=self.sync_run + except AttributeError: + raise 'Need to call setup sync before' + gpascii.send_block(cmd) - #rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos - #res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos - #idx 0 1 2 3 4 5 - ofsy=-rec[0,4]+pts[0,0] - ofsx=-rec[0,5]+pts[0,1] - rec[:,(1,4)]+=ofsy - rec[:,(2,5)]+=ofsx - if fnRec: - np.savez_compressed(fnRec, rec=rec, pts=pts, meta=self.meta) + def gather_upload(self,fnRec=None): + #gather -u /var/ftp/gather/out.txt + #cmd ='PBGatherPlot -m24 -v7 --host '+self.host + #print(cmd) + #p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT) + #retval = p.wait() + #fnLoc='/tmp/gather.txt' + #self.rec =rec = np.genfromtxt(fnLoc, delimiter=' ') + gt=self.gather + gt.wait_stopped(verbose=True) + self.rec=rec=gt.upload() - def sort_points(self,xy=False): - pts=self.points - verb=self.verbose + pts=self.points - cnt=pts.shape[0] - idx=np.ndarray(cnt,dtype=np.int32) - grp_cnt=int(np.sqrt(cnt)) - grp_sz=int(np.ceil(float(cnt)/grp_cnt)) - if xy==True: - idxA=1;idxB=0 + + #rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos + #res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos + #idx 0 1 2 3 4 5 + ofsy=-rec[0,4]+pts[0,0] + ofsx=-rec[0,5]+pts[0,1] + rec[:,(1,4)]+=ofsy + rec[:,(2,5)]+=ofsx + if fnRec: + np.savez_compressed(fnRec, rec=rec, pts=pts, meta=self.meta) + + def sort_points(self,xy=False): + pts=self.points + verb=self.verbose + + cnt=pts.shape[0] + idx=np.ndarray(cnt,dtype=np.int32) + grp_cnt=int(np.sqrt(cnt)) + grp_sz=int(np.ceil(float(cnt)/grp_cnt)) + if xy==True: + idxA=1;idxB=0 + else: + idxA=0;idxB=1 + + #sort points along idxA + pts=pts[pts[:,idxA].argsort()] + #group sorting along idxB + for i in range(grp_cnt): + a=i*grp_sz + #print a,a+grp_sz + if i%2: + idx[a:a+grp_sz]=a+pts[a:a+grp_sz,idxB].argsort()[::-1] else: - idxA=0;idxB=1 + idx[a:a+grp_sz]=a+pts[a:a+grp_sz,idxB].argsort() + #print(idx) + pts=pts[idx] - #sort points along idxA - pts=pts[pts[:,idxA].argsort()] - #group sorting along idxB - for i in range(grp_cnt): - a=i*grp_sz - #print a,a+grp_sz - if i%2: - idx[a:a+grp_sz]=a+pts[a:a+grp_sz,idxB].argsort()[::-1] - else: - idx[a:a+grp_sz]=a+pts[a:a+grp_sz,idxB].argsort() - #print(idx) - pts=pts[idx] + if verb&2: + self.plot_points(pts) + plt.show() + self.points=pts - if verb&2: - self.plot_points(pts) - plt.show() - self.points=pts + @staticmethod + def onclick(event): + print('button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%( + event.button, event.x, event.y, event.xdata, event.ydata)) + obj=event.canvas.figure.obj - @staticmethod - def onclick(event): - print('button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%( - event.button, event.x, event.y, event.xdata, event.ydata)) - obj=event.canvas.figure.obj + def plot_points(self,pts): + fig=plt.figure() + ax = fig.add_subplot(1,1,1) + #hl=ax[0].plot(x, y, color=col) + hl=ax.plot(pts[:,0],pts[:,1],'r.') + hl=ax.plot(pts[:,0],pts[:,1],'y--') + cid = fig.canvas.mpl_connect('button_press_event', self.onclick) + fig.obj=self + plt.axis('equal') + self.ax=ax + self.hl=hl - def plot_points(self,pts): - fig=plt.figure() - ax = fig.add_subplot(1,1,1) - #hl=ax[0].plot(x, y, color=col) - hl=ax.plot(pts[:,0],pts[:,1],'r.') - hl=ax.plot(pts[:,0],pts[:,1],'y--') - cid = fig.canvas.mpl_connect('button_press_event', self.onclick) - fig.obj=self - plt.axis('equal') - self.ax=ax - self.hl=hl + def plot_gather(self): + try: + meta=self.meta + pts=self.points # X,Y array + rec = self.rec + except AttributeError as e: + print('plot_gather(): '+str(e)+': no data acquired yet') + return + fig=plt.figure() + ax = fig.add_subplot(1,1,1) + #hl=ax[0].plot(x, y, color=col) + hl=ax.plot(pts[:,0],pts[:,1],'r.') + hl=ax.plot(pts[:,0],pts[:,1],'y--') + hl = ax.plot(rec[:, 4], rec[:, 5], 'b-') # desired path + hl=ax.plot(rec[:,1],rec[:,2],'g-') # actual path + ax.xaxis.set_label_text('x-pos um') + ax.yaxis.set_label_text('y-pos um') + cid = fig.canvas.mpl_connect('button_press_event', self.onclick) + fig.obj=self + self.ax=ax + self.hl=hl - def plot_gather(self): - try: - meta=self.meta - pts=self.points # X,Y array - rec = self.rec - except AttributeError as e: - print('plot_gather(): '+str(e)+': no data acquired yet') - return - fig=plt.figure() - ax = fig.add_subplot(1,1,1) - #hl=ax[0].plot(x, y, color=col) - hl=ax.plot(pts[:,0],pts[:,1],'r.') - hl=ax.plot(pts[:,0],pts[:,1],'y--') - hl = ax.plot(rec[:, 4], rec[:, 5], 'b-') # desired path - hl=ax.plot(rec[:,1],rec[:,2],'g-') # actual path - ax.xaxis.set_label_text('x-pos um') - ax.yaxis.set_label_text('y-pos um') - cid = fig.canvas.mpl_connect('button_press_event', self.onclick) - fig.obj=self - self.ax=ax - self.hl=hl + fig = plt.figure() + ax = fig.add_subplot(1, 1, 1) + errx=rec[:,1]-rec[:,4] + erry=rec[:,2]-rec[:,5] + err=np.sqrt(errx**2+erry**2) - fig = plt.figure() - ax = fig.add_subplot(1, 1, 1) - errx=rec[:,1]-rec[:,4] - erry=rec[:,2]-rec[:,5] - err=np.sqrt(errx**2+erry**2) - - hl = [] - hl += ax.plot(errx, 'b-',label='x-error') - 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']) - ax.yaxis.set_label_text('pos-error um') - legend = ax.legend(loc='upper right', shadow=True) - print('average error x %g um, y %g um, %g um'%(np.abs(errx).mean(),np.abs(erry).mean(),err.mean())) - plt.show() + hl = [] + hl += ax.plot(errx, 'b-',label='x-error') + 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']) + ax.yaxis.set_label_text('pos-error um') + legend = ax.legend(loc='upper right', shadow=True) + print('average error x %g um, y %g um, %g um'%(np.abs(errx).mean(),np.abs(erry).mean(),err.mean())) + plt.show() if __name__=='__main__': #import logging @@ -408,13 +469,43 @@ if __name__=='__main__': sp.host=args.host #temporary fn='/tmp/shapepath' + xy=False # fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S') - sort_points='sort_points(xy='+str(args.xy)+')' - gt_upld='gather_upload(fnRec="'+fn+'.npz")' - move_trj='move_trajectory(fnPrg="'+fn+'.prg"' + + #>>>point source and sorting<<< + #sp.points = np.array([[100,523],[635,632],[756,213]]) + #sp.points = np.array([[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]]) + #sp.gen_rand_points(n=107, scale=1000);sp.sort_points(xy=args.xy) + #sp.gen_grid_points(w=100,h=100,pitch=10,rnd=.2) + #sp.gen_swissfel_points(scale=300) + #sp.gen_grid_points(w=10,h=10,pitch=50,rnd=.2) + #sp.gen_grid_points(w=100,h=100,pitch=50,rnd=.2) + + + #setup_gather(self, acq_per=1) + sp.setup_gather() + #setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs): + sp.setup_sync() #no sync at all + #sp.setup_sync(mode=1) #sync with timing system + + sp.gen_grid_points(w=20,h=20,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) + + + #>>>setup gather and sync<<< + #sp.setup_gather() + #sp.setup_sync() + + #>>>setup motion program<<< + #sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) + + #>>>run gather and plot trajectory<<< + sp.run() + sp.gather_upload(fnRec=fn+'.npz') + sp.plot_gather() + # cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":[sort_points,move_trj+')']} - cfg={"sequencer":['gen_rand_points(n=107, scale=1000)',sort_points,move_trj+')']} + #cfg={"sequencer":['gen_rand_points(n=107, scale=1000)',sort_points,move_trj+')']} # cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',sort_points,move_trj+')']} # cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)',sort_points,move_trj+')']} # cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', sort_points]} @@ -435,20 +526,18 @@ if __name__=='__main__': # ]} # 900npoints is a too big code block... and creates unfixable buffe locks - cfg={"sequencer": ['gen_rand_points(n=5000, scale=100)', sort_points, - move_trj+',mode=1,pt2pt_time=4,acq_per=10)', - ]} + #cfg={"sequencer": ['gen_rand_points(n=5000, scale=100)', sort_points, + # move_trj+',mode=1,pt2pt_time=4,acq_per=10)', + # ]} # cfg = {"sequencer": ['gen_swissfel_points(scale=300)',move_trj+',mode=1,pt2pt_time=100,acq_per=10)',]} # cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','move_trajectory(file="'+fn+'_corr.prg",mode=1,pt2pt_time=10,cnt=1)', ("'+fn+'_corr.npz")']} # cfg = {"sequencer": ['opt_pts("'+fn+'.npz")',move_trj+',mode=1,pt2pt_time=10,cnt=1)']} # cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', sort_points,move_trj+',mode=1,pt2pt_time=10,cnt=1)']} - cfg['sequencer'].append(gt_upld) - cfg['sequencer'].append('plot_gather()') - sp.run_test(cfg,args.dryrun) - #self.cfg=dotdict(cfg) - #self.args=args + #cfg['sequencer'].append(gt_upld) + #cfg['sequencer'].append('plot_gather()') + from optparse import OptionParser, IndentedHelpFormatter @@ -478,8 +567,6 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n ' parser=OptionParser(epilog=epilog, formatter=fmt) parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0) - parser.add_option('-n', '--dryrun', action='store_true', help='dryrun to stdout') - parser.add_option('--xy', action='store_true', help='sort x,y instead y,x',default=False) parser.add_option('--host', help='hostname', default='SAR-CPPM-EXPMX1') #parser.add_option('--host', help='hostname')