adding move_record.py

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

python/move_record.py

@@ -0,0 +1,275 @@
+#!/usr/bin/env python
+# *-----------------------------------------------------------------------*
+# |                                                                       |
+# |  Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch)    |
+# |                                                                       |
+# |              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
+# *-----------------------------------------------------------------------*
+'''
+shape an optimal path with given points
+
+verbose bits:
+  1 basic info
+  4 list program
+  4 upload progress
+  8 plot gather path
+
+#config file example:
+{
+  "points": [
+    [100,523],[635,632],[756,213],
+  "sequencer":[
+    'gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',
+    'sort_points()',
+    'gen_prog(file="'+fn+'.prg")',
+    'plot_gather("'+fn+'.npz")']
+}
+
+Sequencer functions are:
+ - generate points (if not in the 'points' configuration)
+   gen_rand_points(self,n=107,scale=1000)
+   gen_grid_points(w=10,h=10,pitch=100,rnd=.2)
+ - sorting points:
+    sort_points(self)
+ - generate/download/execute motion progran, upload trace of motors (gather data)
+    gen_prog(self,prgId=2,file=None,host=None)
+      if host=None nothing will be downloaded/executed and trace of motors will not be uploaded
+      if file=None the program will not be saved and nothing will be executed
+      gen_prog modes:
+      -1 jog a 10mm square
+       0 linear motion
+       1 pvt motion
+       2 spline motion
+
+
+ - plot gathered data
+     plot_gather("'+fn+'.npz")
+       this makes only sence, if motion has been executed and data can be gathered from the powerbrick
+
+Acquired time is:MaxSamples*Period*.2
+'''
+
+import os, sys, json
+import numpy as np
+import matplotlib as mpl
+import matplotlib.pyplot as plt
+import subprocess as sprc
+import telnetlib
+from utilities import *
+
+os.environ['PATH']='/home/zamofing_t/scripts/:'+os.environ['PATH']
+
+class MoveRecord:
+    def __init__(self,args):
+      fn='/tmp/moverecord'
+      self.fnPrg=fn+'.prg'
+      self.fnNpz=fn+'.npz'
+      #cfg = {"sequencer": ['prog_1(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_1()']}
+      cfg = {"sequencer": ['plot_1()']}
+      self.cfg=dotdict(cfg)
+      self.args=args
+
+    def run(self):
+      print('args='+str(self.args))
+      print('cfg='+str(self.cfg))
+      try:
+        sequencer= self.cfg.pop('sequencer')
+      except KeyError:
+        print('no command sequence to execute')
+      else:
+        for cmd in sequencer:
+          print '>'*5+' '+cmd+' '+'<'*5
+          eval('self.' + cmd)
+
+    def prg_prolog(self):
+      prg=self.prg
+      gather=self.gather
+      channels=self.channels
+      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'%(self.prgId))
+
+    def prg_epilog(self):
+      fnPrg=self.fnPrg
+      fnNpz=self.fnNpz
+      host=self.host
+      prg=self.prg
+
+      prg.append('close')
+      prg.append('&1\nb%dr\n'%self.prgId)
+      if self.args.verbose & 4:
+        for ln in prg:
+          print(ln)
+
+      if fnPrg is not None:
+        fh=open(fnPrg,'w')
+        fh.write('\n'.join(prg))
+        fh.close()
+        if host is not None:
+          cmd ='gpasciiCommander --host '+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()
+          #gather -u /var/ftp/gather/out.txt
+          cmd ='PBGatherPlot -m24 -v7 --host '+host
+          print cmd
+          p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
+          retval = p.wait()
+
+          meta = self.meta
+          channels = self.channels
+          fnLoc='/tmp/gather.txt'
+          rec = np.genfromtxt(fnLoc, delimiter=' ')
+          # rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
+          # res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos
+          # idx     0        1        2          3        4        5
+          if fnNpz:
+            np.savez_compressed(fnNpz, rec=rec, prg=self.prg, channels=self.channels, meta=meta)
+
+    def prog_1(self,prgId=2,host=None,acq_per=1):
+      '''
+      kwargs:
+        acq_per    : acquire period: acquire data all acq_per servo loops (default=1)
+        prgId      : used program number
+        file       : used filename to save if None, not saved
+        host       : host to send and execute program, if None, nothing is executed
+      '''
+      ServoPeriod= .2 #0.2ms Sys.ServoPeriod is dependent of !common() macro
+
+      self.prgId=prgId
+      self.file=file
+      self.host=host
+      self.gather={"MaxSamples":1000000, "Period":acq_per}
+      self.channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
+      self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']}
+
+      self.prg=prg=[]
+      #prg.append('#1..3$')
+      #prg.append('#1..3j/')
+
+      self.prg_prolog()
+      prg=self.prg
+
+      prg.append('  linear abs')
+      prg.append('jog3=1000')
+      prg.append('dwell 100')
+      prg.append('Gather.Enable=2')
+      for spd in (5,10,20,30,40):
+        prg.append('Motor[3].JogSpeed=%d'%spd)
+        prg.append('jog3=27000')
+        prg.append('dwell 100')
+        prg.append('jog3=1000')
+        prg.append('dwell 100')
+      prg.append('Gather.Enable=0')
+
+      self.prg_epilog()
+      #  &1 #1->0
+      #  &1 #2->0
+      #  #3$
+      #  an anschlag (kabel) bewegen
+      #  #3hmz
+      #  Motor[3].PhasePos=1200
+      #  #3j/
+      #  &1p
+
+
+      #folgende parameter setzen: Motor[3].HomePos
+      meta['HomePos']=-223.8   #Motor[3].HomePos
+      meta['PhasePos']=1200  #Motor[3].PhasePos
+
+    @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_1(self):
+      try:
+        rec=self.rec
+        prg=self.prg
+        channels=self.channels
+        meta=self.meta
+      except AttributeError:
+        fh=np.load(self.fnNpz)
+        rec=fh['rec']
+        prg=list(fh['prg'])
+        channels=list(fh['channels'])
+        meta=fh['meta'].item()
+
+      time=np.arange(0,rec.shape[0])*meta['timebase']
+
+      fig=plt.figure();
+      fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
+      fig.canvas.set_window_title('position')
+      ax = fig.add_subplot(1,1,1)
+      hl=[]
+      hl+=ax.plot(time,rec[:,0],'r-',label=channels[0])
+      hl+=ax.plot(time,rec[:,1],'g-',label=channels[1])
+      hl+=ax.plot(time,rec[:,2],'b-',label=channels[2])
+      ax.xaxis.set_label_text('ms')
+      ax.yaxis.set_label_text('um')
+      legend = ax.legend(loc='upper right', shadow=True)
+
+      fig=plt.figure();
+      fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
+      fig.canvas.set_window_title('current')
+      ax = fig.add_subplot(1,1,1)
+      hl=[]
+      sz=100; weights = np.repeat(1.0, sz) / sz
+      v = np.convolve(rec[:,3], weights, 'same')
+      hl+=ax.plot(time,v,'r-',label=channels[3])
+      v = np.convolve(rec[:, 4], weights, 'same')
+      hl+=ax.plot(time,v,'g-',label=channels[4])
+      ax.xaxis.set_label_text('ms')
+      ax.yaxis.set_label_text('current in bits')
+      legend = ax.legend(loc='upper right', shadow=True)
+      print 'abs average ',channels[4], np.abs(rec[:, 4]).mean()
+
+
+      plt.show()
+
+if __name__=='__main__':
+  from optparse import OptionParser, IndentedHelpFormatter
+  class MyFormatter(IndentedHelpFormatter):
+    'helper class for formating the OptionParser'
+
+    def __init__(self):
+      IndentedHelpFormatter.__init__(self)
+
+    def format_epilog(self, epilog):
+      if epilog:
+        return epilog
+      else:
+        return ""
+
+  def parse_args():
+    'main command line interpreter function'
+    #usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
+    (h, t)=os.path.split(sys.argv[0]);cmd='\n  '+(t if len(h)>3 else sys.argv[0])+' '
+    exampleCmd=('--host=PPMAC1391 -m 63 --cfg gather.cfg',
+                'samplePowerBrick.cfg',
+                '-n stackCheck1.cfg',
+                '--host=PPMACZT84 stackCheck1.cfg',
+                '--host=PPMACZT84 stackCheck1.cfg -v15',
+               )
+    epilog=__doc__+'''
+Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
+
+    fmt=MyFormatter()
+    parser=OptionParser(epilog=epilog, formatter=fmt)
+
+    parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
+    (args, other)=parser.parse_args()
+    args.other=other
+
+    mr=MoveRecord(args)
+    mr.run()
+#------------------ Main Code ----------------------------------
+  #ssh_test()
+  ret=parse_args()
+  exit(ret)

python/shapepath.py

@@ -83,10 +83,10 @@ class ShapePath:
         #cfg = {"points": [[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]],"sequencer": ['gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather("'+fn+'.npz")']}
         #cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=-1)', 'plot_gather("'+fn+'.npz")']}
         #cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=1000)', 'plot_gather("'+fn+'.npz")']}
-        cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
+        cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
         #cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
         #cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=2,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
-        #cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)','plot_gather("'+fn+'.npz")']}
+        #cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10,acq_per=1)','plot_gather("'+fn+'.npz")']}
 
       self.cfg=dotdict(cfg)
       self.args=args
@@ -130,8 +130,8 @@ class ShapePath:
         pt2pt_time : time to move from one point to the next point
       '''
       prg=[]
-      acq_frq=kwargs.get('acq_frq',1)
+      acq_per=kwargs.get('acq_per',1)
-      gather={"MaxSamples":1000000, "Period":acq_frq}
+      gather={"MaxSamples":1000000, "Period":acq_per}
       #Sys.ServoPeriod is dependent of !common() macro
       ServoPeriod= .2 #0.2ms
       #ServoPeriod = .05