wip
This commit is contained in:
@@ -57,86 +57,140 @@ import matplotlib.pyplot as plt
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import subprocess as sprc
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sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
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#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t')
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#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t/pbtools/misc/')
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from pbtools.misc.pp_comm import PPComm
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from pbtools.misc.gather import Gather
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from MXMotion import MotionBase
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class ShapePath(MotionBase):
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def __init__(self,comm, gather, verbose):
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MotionBase.__init__(self,comm, gather, verbose)
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def __init__(self,comm, gather, verbose):
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MotionBase.__init__(self,comm, gather, verbose)
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def run_test(self,cfg,dryrun=False):
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print('cfg='+str(cfg))
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def gen_swissfel_points(self,scale=10):
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'generathe a path that writes swissfel'
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#string from inkscape path of the drawing
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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"
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d=d.split()
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pts=np.ndarray((len(d)-1,2),dtype=np.float)
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for i in xrange(pts.shape[0]):
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pts[i,:]=map(float,d[i+1].split(','))
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pts[0,:]=(5,0)
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pts=pts.cumsum(0)
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pts[:,1]=-pts[:,1]
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pts*=scale
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self.points=pts
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verb=self.verbose
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if verb&2:
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self.plot_points(pts)
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plt.show()
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def gen_rand_points(self,n=107,scale=1000):
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'generate random distributed points'
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np.random.seed(0)
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#data=np.random.randint(0,1000,(30,2))
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pts=np.random.rand(n,2)*scale
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self.points=pts
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def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2):
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'generates points in a grid with a given pitch and a bit randomness'
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np.random.seed(0)
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xx,yy=np.meshgrid(range(w), range(h))
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pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch
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if rnd != 0:
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pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch))
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pts[:,0]+=500
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self.points=pts
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def opt_pts(self,fn):
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'''
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trial to optimize path by mofing trajectory, uload real path and move the points
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to finally go trough the desired points
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'''
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fh=np.load(fn)
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#res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
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#idx 0 1 2 3 4 5
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rec=fh['rec']
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pts=fh['pts']
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desPos=rec[:,4:6]
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idx=np.ndarray(shape=len(pts),dtype=np.int32)
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for i in range(len(pts)):
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l=desPos-pts[i,:]
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l2=l[:,0]**2+l[:,1]**2
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idx[i]=np.argmin(l2)
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recPts=rec[idx,:]
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ptsCorr=(pts-recPts[:,1:3]+recPts[:,4:6])
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self.points=pts
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self.ptsCorr=ptsCorr
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print(ptsCorr)
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def setup_gather(self,acq_per=1):
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'''
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setup the channels to gather
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kwargs:
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acq_per : acquire period: acquire data all acq_per servo loops (default=1)
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'''
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comm=self.comm
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gt=self.gather
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gt.set_phasemode(False)
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gt.set_address("Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].DesPos")
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gt.set_property(MaxSamples=1000000, Period=acq_per)
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ServoPeriod= .2 #0.2ms #Sys.ServoPeriod is dependent of !common() macro
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#ServoPeriod=comm.gpascii.servo_period
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self.meta = {'timebase': ServoPeriod*acq_per}
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def setup_sync(self,crdId=1,prgId=2,plcId=2,mode=0,**kwargs):
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'''setup the timing synchronization for the motion program
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mode=0 : no sync at all
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mode=1 : first sync test
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this function generates the code blocks:
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self.sync_wait and self.sync_run
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sync_wait can be put in the program to force a timing sync
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sync_run are the commands to run the whole program
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'''
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gpascii=self.comm.gpascii
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if mode==0:
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try:
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self.points=np.array(cfg['points'])
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except KeyError:
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del self.sync_wait
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except AttributeError:
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pass
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try:
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sequencer= cfg['sequencer']
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except KeyError:
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print('no command sequence to execute')
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else:
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for cmd in sequencer:
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print('>'*5+' '+cmd+' '+'<'*5)
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if not dryrun:
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eval('self.' + cmd)
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self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
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def gen_swissfel_points(self,scale=10):
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#string from inkscape path of the drawing
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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"
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d=d.split()
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pts=np.ndarray((len(d)-1,2),dtype=np.float)
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for i in xrange(pts.shape[0]):
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pts[i,:]=map(float,d[i+1].split(','))
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elif mode==1:
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# changes the Timebase of coord system
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# modifies the timebase to start/stop a running program
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# this can also be used to adjust the execution speed
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# the plc for now
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# - waits untis <flag> is false
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# - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
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pts[0,:]=(5,0)
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pts=pts.cumsum(0)
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pts[:,1]=-pts[:,1]
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pts*=scale
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self.points=pts
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#flag ='PowerBrick[0].GpioData[0].0.1==1'
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flag ='Gate3[1].Chan[0].UserFlag==1'
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prg='''close all buffers
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open plc {plcId}
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Coord[{crdId}].DesTimeBase=0 // freezes timebase at boot
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while(flag){{}}
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while(1)
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{{
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if({flag})
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{{
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PowerBrick[0].GpioData[0].16.8=255
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Coord[{crdId}].DesTimeBase=Sys.ServoPeriod
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break
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}}
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}}
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close
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'''.format(plcId=plcId,crdId=crdId,flag=flag)
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gpascii.send_block(prg)
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self.sync_wait='Coord[{crdId}].DesTimeBase=0;enable plc {plcId}'.format(plcId=plcId,crdId=crdId)
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self.sync_run='Coord[{crdId}].DesTimeBase=0;&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
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verb=self.verbose
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if verb&2:
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self.plot_points(pts)
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plt.show()
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def gen_rand_points(self,n=107,scale=1000):
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np.random.seed(0)
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#data=np.random.randint(0,1000,(30,2))
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pts=np.random.rand(n,2)*scale
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self.points=pts
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def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2):
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np.random.seed(0)
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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 <prgId> and saves to fnPrg
|
||||
the type of generated program is defined by <mode>
|
||||
@@ -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')
|
||||
|
||||
|
||||
Reference in New Issue
Block a user