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documentation triggerSync with mermaid

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2024-10-31 15:57:26 +01:00
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208
Readme.md
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@@ -1,25 +1,23 @@
Various motor documents
-----------------------
- /home/zamofing_t/Documents/doc-ext/SwissFEL/ESB-MX
PBSwissMX
=========
This repository is used by the SwissMX application.<br/>
A complete list of SwissMX repositories dependencies is shown in [grp-sf_cristallina/SwissMX.git](https://git.psi.ch/grp-sf_cristallina/SwissMX).
Repository structure and dependency (update:23.09.24)
-----------------------------------------------------
PBSwissMX contains python application and executables to:
- generate trajectories and motion programs for SwissMX (`shapepath.py` and `helicalscan.py`[obsolete])
- motion synchronization executables (`triggerSync`) for Deltatau
- analyse recorded trajectories on SwissMX (`ShapePathAnalyser`)
- motor tuning tools (`MXTuning`)
- documentation about the tuning results (`MXfastStageDoc`)
motion start/framesynchronization (update31.10.24)
---------------------------------------------------
**<font color="red">For more details about triggerSync read: [src/triggerSync/Readme.md](src/triggerSync/Readme.md)</font>**
#### Important used vaiables:
```
This repository contains PowerBrick documents and tool to generate trajectories and motion programs for SwissMX
for more info about SwissMX read:
psigithub git@git.psi.ch:grp-sf_cristallina/SwissMX.git --> ~/Documents/prj/SwissFEL/apps/SwissMX/Readme.md
For more details about triggerSync read:
~/Documents/prj/SwissFEL/apps/PBSwissMX/src/triggerSync/Readme.md
```
motion/frame synchronization
----------------------------
```
s.a. ~/Documents/prj/SwissFEL/apps/PBSwissMX/src/triggerSync/Readme.md
Coord[1].Q[0] : sync points indicator: (at whick point is the motion program)
val: desc set in code
-3: waiting at start position motion code generated in MXMotion.py:setup_sync(mode=?)
@@ -50,18 +48,165 @@ triggerSync.c mode:
bit1:2: simulate start trigger
bit2:4: simulate frame trigger
bit3:8: verbose
```
Acquisition start event:
### start/frame event system
```
Start event:
sim: Coord[1].Q[10]
EVR: Gate3[1].Chan[0].UserFlag == (gate3_1->Chan[0].Status&0x800) == FrontUnivOut4 -> Pulser0 -> (active Low, 5000us delay 0us) Map: 214
EVR: Gate3[1].Chan[0].UserFlag == (gate3_1->Chan[0].Status&0x800) == FrontUnivOut4, EPICS MACRO: $(USR_FLAG_ID)=5
-> Pulser0 -> (active Low, 5000us delay 0us) Map: 214
-> event 214 is 'ESC multipurpose event. In this case used as: start motion'
Frame event:
sim: Coord[1].Q[11]
EVR: Gate3[1].Chan[1].UserFlag == (gate3_1->Chan[1].Status&0x800) == FrontUnivOut5 -> Pulser1 -> (active Low, 5000us delay 750us) Map: 40
EVR: Gate3[1].Chan[1].UserFlag == (gate3_1->Chan[1].Status&0x800) == FrontUnivOut5, EPICS MACRO: $(USR_FLAG_ID)=5
-> Pulser1 -> (active Low, 5000us delay 750us) Map: 40
-> event 40 = 'ESA_detector 100 Hz' >>> should be 77='ESC detector'
unused EVR input?:
EVR: Gate3[1].Chan[2].UserFlag == (gate3_1->Chan[2].Status&0x800) == FrontUnivOut6, EPICS MACRO: $(USR_FLAG_ID)=7
!!! Deltatau flags are inverted: FrontUnivOut6(Force Low) -> Gate3[1].Chan[2].UserFlag==1
```
|event |simulated |real |
|- |- |- |
|start |Coord[.].Q[10] | Gate3[1].Chan[0].UserFlag |
|frame |Coord[.].Q[11] | Gate3[1].Chan[1].UserFlag |
**frequence jitter 50Hz Swissgrid:** https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html
### partial python class diagram of PBSwissMX
```mermaid
classDiagram
MotionBase <|-- ShapePath
MotionBase <|-- HelicalScan
class MotionBase {
@MXMotion.py
+ setup_sync(self, crdId, prgId, verbose, timeOfs, timeCor)
+ homing(self)
+ run(self, crdId)
+ wait_armed(self, crdId)
+ progress(self)
+ trigger(self, wait)
}
class ShapePath {
@shapepath.py
%%- __init__(self, args) None
+ setup_gather(self,acq_per=None,numPts=None)
+ setup_coord_trf(self,fx='X',fy='Y',cz='0')
+ setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs)
+ gather_upload(self,fnRec=None)
}
class HelicalScan {
@helicalscan.py [obsolete]
+ setup_gather(self,acq_per=1)
+ setup_coord_trf(self,fnCrdTrf='/tmp/coordTrf.cfg')
+ setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs)
+ gather_upload(self,fnRec=None)
}
class GenPath {
@shapepath.py
+ swissmx(self, flipx, flipy, ofs, width)
+ swissfel(self, flipx, flipy, ofs, width)
%%+ rand(self, n, scale, ofs)
+ grid(self, w, h, pitch, rnd, ofs)
%%+ spiral(self, rStart, rInc, numSeg, numCir, phase, ofs)
%%+ closed_shifted(self, pitch, shift, mult)
%%+ sort(self, mode, grp_sz)
}
```
testing shapepath.py in different modes (tunneling)
---------------------------------------------------
### Simplified Python sequence
Source for the instance "start/frame event system" can be:
- python code
- timing system (EVR)
- motion code
- triggerSync executable running on Deltatau
```mermaid
sequenceDiagram
participant es as start/frame<br/>event system
participant py as Python
participant pb as PowerBrick
Note over py: .setup_sync()<br/>prepare code snipplets
activate py
opt needs triggerSync
Note over es,pb: triggerSync is needed in case of:<br/>simulated start/frame triggers<br/>and/or adjust DesTimeBase
py -) pb: sftp / ssh
Note over pb: sftp triggerSync<br/>run triggerSync
pb ->> es: run triggerSync
end
Note over py: .setup_coord_trf()
py -) pb: download code
Note over pb: setup coordinate transformation
Note over py: .setup_motion()
py -) pb: generate code<br/>download code
Note over pb: setup motion program
Note over py: .setup_gather()
py -) pb: download code<br/>set gather vars
Note over pb: set addresses to gather<br/>Gather.Enable=1
Note over py: .homing()
py -)+ pb: download code<br/>run homing PLC
Note over py: wait(Motor[1].HomeComplete)
deactivate py
Note over pb: runs homing PLC [if needed]<br/>enable plc 1
pb ->>- py: Motor[1].HomeComplete
activate py
Note over py: .run()
py -)+ pb: run motion program
Note over pb: runs motion program 2 in coordSystem 1<br/>&1br2
Note over pb: move to first point<br/>DesTimeBase=0 (wait motion)<br/>Q[0]=-3 (motion program waiting at start position)
pb ->>- es: Q[0]=-3
Note over es: Q[0]=-2 (event system armed)<br/>[in motion code or<br/>triggerSync exe]
Note over py: .wait_armed()<br/>wait(Q[0]==-2) # wait until motors are at first position
deactivate py
es ->>+ py: Q[0]=-2
Note over es: wait for start trigger
Note over py: .trigger()
alt sim start trig
Note over py: Q[10]=1 [send a simulated start trigger<br/>after given time]
py ->> es: Q[10]=1
else real start trig
es->> es: Gate3[1].Chan[0].UserFlag==1
end
Note over es: DesTimeBase=Sys.ServoPeriod<br/>[in motion code or<br/>triggerSync exe]
es->>+pb: continue motion
opt adjust time base
Note over es: in thread trigger_sync_func()<br/>of triggerSync exe
es->>es: adjust DesTimeBase
end
Note over pb: pvt10abs<br/>move to all points
loop 10 ms
Note over pb: move to next point
end
opt triggerSync running
pb ->> es: Gather.Enable=0
Note over es: exit triggerSync exe
end
Note over py: while .progress()<br/>wait(Gather.Enable==0)
deactivate py
Note over pb: end motion program
pb ->>- py: Gather.Enable=0
activate py
Note over py: .gather_upload()
deactivate py
```
-------------------------------
Work log
========
??10.24: testing shapepath.py in different modes (tunneling)
-----------------------------------------------------------
```
zamofing_t@ganymede:~$
>>> kill previous tunnels 127.0.0.1:100??
@@ -132,6 +277,19 @@ caput SAR-EXPMX-EVR0:FrontUnivOut4-Src-Pulse-SP 0
Debugging were the coordinate program counter is:
&1 list pc,10
```
??.10.24: mermaid tricks and links
---------------------------------
- https://mermaid.live/
- https://app.zenuml.com/
- https://www.mermaidchart.com/
- https://help.whimsical.com/article/732-sequence-diagrams
- https://www.visual-paradigm.com/guide/uml-unified-modeling-language/what-is-sequence-diagram/
- https://www.geeksforgeeks.org/unified-modeling-language-uml-sequence-diagrams/
```
pip install pymermaider --user
pymermaider ~/Documents/prj/SwissFEL/apps/PBSwissMX/python -o /tmp
subl /tmp/python.md
```

14
python/MXMotion.py
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@@ -99,13 +99,13 @@ class MotionBase:
Coord[{crdId}].TimeBaseSlew=1 //1E-4 is default
Coord[{crdId}].DesTimeBase=0
Coord[{crdId}].Q[0]=-3 // motion program waiting at start position
Coord[{crdId}].Q[0]=-2 // motion program started and armed
while({flag0}==0){{}}
Coord[{crdId}].Q[0]=-1
Gather.Enable=2
while({flag1}==0){{}}
Coord[1].DesTimeBase=Sys.ServoPeriod
Coord[{crdId}].Q[0]=0 //
Coord[{crdId}].Q[0]=-2 // 'start/frame event system' armed (triggerSync not used in these modes)
while({flag0}==0){{}} // wait start trigger
Coord[{crdId}].Q[0]=-1 // start trigger received
Gather.Enable=2 // start acquire date
while({flag1}==0){{}} // wait first frame trigger
Coord[1].DesTimeBase=Sys.ServoPeriod //run motion
Coord[{crdId}].Q[0]=0 // indicates that motion moves to first measurement point
'''
else: #sync_mode==2: triggerSync:trigsync_func called
prg = f'''

22
src/triggerSync/Readme.md
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@@ -1,5 +1,8 @@
triggerSync
===========
```
samples: root@:/opt/ppmac#
/tmp/triggerSync 40 11 trigger all 40 ms, simulated start, use real frame triggers, verbose
@@ -8,37 +11,27 @@ samples: root@:/opt/ppmac#
/tmp/triggerSync 40 7 trigger all 40 ms, simulated start and frame triggers, with sync, minimal verbose
For real triggers, deltatau is using flags from the EVR-card:
//Simulated triggers uses Q variables
#define SIMFLAG0 (pshm->Coord[1].Q[10])
#define SIMFLAG1 (pshm->Coord[1].Q[11])
//Power PMAC Software Reference Manual.pdf Gate3[i].Chan[j].Status -> page 919 UserFlag
//real triggers, uses inputsfrom the EVR-card
// s.a. Power PMAC Software Reference Manual.pdf Gate3[i].Chan[j].Status -> page 919 UserFlag
#define FLAG0 (gate3_1->Chan[0].Status&0x800)
#define FLAG1 (gate3_1->Chan[1].Status&0x800)
work of triggerSync program:
- wait for [SIM]FLAG0 (arm trigger)
- once armed, each [SIM]FLAG1 trigger is a frame trigger.
SIMFLAG[0|1] are vairables Coord[1].Q[10] and Coord[1].Q[11]
the EVR flags are set in;
caqtdm -attach -macro SYS=SAR-EXPMX,DEVICE=EVR0,FF=PCIe G_EVR_main.ui
FLAG0 == Gate3[1].Chan[0].UserFlag == FrontUnivOut4 -> Pulser0 -> (active Low, 5000us delay 0us) Map: 214
FLAG1 == Gate3[1].Chan[1].UserFlag == FrontUnivOut5 -> Pulser1 -> (active Low, 5000us delay 750us) Map: 40
Pulser 0: event 214 is 'ESC multipurpose event. In this case used as: start motion'
Pulser 1: maps event 40 = 'ESA_detector 100 Hz' >>> should be 77='ESC detector'
event 214 is set with the CTA. For tests one can set manually
caput SAR-EXPMX-EVR0:FrontUnivOut4-Src-Scale-SP 9 # Force High(0) -> arm event, before start motion
caput SAR-EXPMX-EVR0:FrontUnivOut4-Src-Scale-SP 8 # Force Low(1) -> trigger motion
caput SAR-EXPMX-EVR0:FrontUnivOut4-Src-Pulse-SP 0 # set back to Pulser 0 -> reset for CTA usage
This are values how they should be:
Here values as they were set (??.10.24):
caget SAR-EXPMX-EVR0:FrontUnivOut4-Src-Pulse-RB SAR-EXPMX-EVR0:FrontUnivOut5-Src-Pulse-RB \
SAR-EXPMX-EVR0:Pul0-Polarity-Sel SAR-EXPMX-EVR0:Pul0-Delay-RB SAR-EXPMX-EVR0:Pul0-Width-RB \
SAR-EXPMX-EVR0:Pul1-Polarity-Sel SAR-EXPMX-EVR0:Pul1-Delay-RB SAR-EXPMX-EVR0:Pul1-Width-RB \
@@ -108,3 +101,4 @@ caput SAR-EXPMX-EVR0:FrontUnivOut4-Src-Pulse-SP 0
Gather.Enable=0 # end triggerSync
```

231
src/triggerSync/UnusedSeqDiag.md Normal file
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@@ -0,0 +1,231 @@
Detailed Python sequence
```mermaid
sequenceDiagram
participant ts as TimingSystem
participant py as Python
participant pb as PowerBrick
activate py
Note over py: .setup_sync()<br/>prepare code snipplets
py -)+ pb: sftp / ssh
Note over pb: sftp triggerSync<br/>run triggerSync
pb --)- py: done
Note over py: .setup_coord_trf()
py -)+ pb: download code
Note over pb: setup coordinate transformation
pb --)- py: done
Note over py: .setup_motion()
py -)+ pb: generate code<br/>download code
Note over pb: setup motion program
pb --)- py: done
Note over py: .setup_gather()
py -)+ pb: download code
Note over pb: set addresses to gather<br/>Gather.Enable=1
pb --)- py: done
Note over py: .homing()
py -)+ pb: download code
Note over pb: runs homing PLC [if needed]<br/>enable plc 1
pb --) py: done
Note over py: wait(Motor[1].HomeComplete)
deactivate py
pb ->>- py: HomeComplete
activate py
Note over py: .run()
py -)+ pb: .run()
Note over pb: runs motion program 2 in coordSystem 1<br/>&1br2
pb --) py: done
Note over py: .wait_armed()<br/>wait(Q[0]==-2) # wait until motors are at first position
deactivate py
Note over pb: move to first point<br/>DesTimeBase=0 (wait motion)<br/>Q[0]=-2 (motion armed)
pb ->>- py: Q[0]=-2 done
activate py
Note over py: .trigger() #send a start trigger (if needed) after given time
Note over pb: wait for the start trigger
alt simulated trigger
Note over py:Q[10]=1
py-)+pb: start trigger
Note over pb: DesTimeBase=Sys.ServoPeriod
else real trigger
ts-)pb: start trigger<br/>triggerSync:DesTimeBase=Sys.ServoPeriod
end
Note over pb: pvt10abs<br/>move to all points
Note over py: while .progress()<br/>wait(Gather.Enable==0)
deactivate py
loop 10 ms
Note over pb: move to next point
end
Note over pb: Gather.Enable=0
pb ->>- py: Gather.Enable=0
activate py
Note over py: .gather_upload()
deactivate py
```
more detailed sequence trial 1
```mermaid
sequenceDiagram
participant py as Python
participant pb as PowerBrick
Note over py: .setup_sync()
create participant ts as TriggerSync
py -)+ ts: .setup_sync()
create participant tsync as triggersync_func()
ts -) tsync: start thread
create participant tsim as trig_sim_func()
ts -) tsim: ? if sync_mode&2 then start thread
deactivate ts
Note over py: .setup_coord_trf()<br/>shapepath.py
py -)+ pb: download code
pb --)- py: done
Note over py: .setup_motion()<br/>shapepath.py
py -)+ pb: generate code<br/>download code
pb --)- py: done
Note over py: .setup_gather()
Note over py, pb: calls set_address(*address)<br/>that sets also Gather.Enable=1.
py -)+ pb: download code
Note over pb: Gather.Enable=1
pb --)- py: done
Note over py: .homing()
py -)+ pb: download code
pb --) py: done
Note over pb: runs homing PLC if needed<br/>enable plc 1
Note over py: wait(Motor[1].HomeComplete)
pb ->>- py: HomeComplete
Note over py: .run()
py -)+ pb: .run()
pb --)- py: done
Note over pb: runs motion program 2 in coordSystem 1<br/>&1br2<br/>move to first point<br/>DesTimeBase=0 (wait motion)
Note over tsync: wait(Q[0]==-3)
pb -)+ tsync: Q[0]=-3
Note over py: MXMotion.py:.wait_armed()<br/>wait(Q[0]==-2)
tsync -)+ py: Q[0]=-2
Note over py: MXMotion.py:.trigger()<br/>if sync_mode&1 then Q[10]=1
deactivate py
tsync -)+ pb: DesTimeBase=ServoPerion
loop aaa
tsync ->> tsync:adjust DesTimeBase<br/>while Gather.Enable!=0
end
activate tsim
loop bbb
tsim ->> tsim:simulate start and frame triggers
end
deactivate tsim
Note over pb: pvt10abs<br/>move to all points
Note over pb: Gather.Enable=0
Note over py: while .progress()<br/>wait(Gather.Enable==0)
pb -)+ py: Gather.Enable=0
pb -)- tsync: Gather.Enable=0
Note over py: shapepath.py:.gather_upload()
Note over ts: wait threds finished
activate ts
deactivate tsync
destroy tsync
tsync -x ts: thread finished
destroy tsim
tsim -x ts: thread finished
deactivate ts
deactivate py
box rgba(196,196,224,.3) TriggerSync executable
participant ts
participant tsim
participant tsync
end
```
more detailed sequence simulated trigger and speed adjustment
```mermaid
sequenceDiagram
participant py as Python
participant pb as PowerBrick
participant ts as TimingSystem
activate py
Note over py: .setup_sync()<br/>prepare code snipplets
py -)+ pb: sftp / ssh
Note over pb: sftp triggerSync<br/>run triggerSync
pb --)- py: done
Note over py: .setup_sync()
create participant tgss as TriggerSync
py -)+ tgss: .setup_sync()
create participant tsync as triggersync_func()
tgss ->> tsync: start thread
opt if sync_mode&2
create participant tsim as trig_sim_func()
tgss ->>- tsim: start thread
end
# deactivate tgss
Note over py: .setup_coord_trf()
py -)+ pb: download code
Note over pb: setup coordinate transformation
pb --)- py: done
Note over py: .setup_motion()
py -)+ pb: generate code<br/>download code
Note over pb: setup motion program
pb --)- py: done
Note over py: .setup_gather()
py -)+ pb: download code
Note over pb: set addresses to gather<br/>Gather.Enable=1
pb --)- py: done
Note over py: .homing()
py -)+ pb: download code
Note over pb: runs homing PLC [if needed]<br/>enable plc 1
pb --) py: done
Note over py: wait(Motor[1].HomeComplete)
deactivate py
pb -)- py: HomeComplete
activate py
Note over py: .run()
py -)+ pb: .run()
Note over pb: runs motion program 2 in coordSystem 1<br/>&1br2
pb --) py: done
Note over py: .wait_armed()<br/>wait(Q[0]==-2) # wait until motors are at first position
deactivate py
Note over pb: move to first point<br/>DesTimeBase=0 (wait motion)<br/>Q[0]=-3 (motion program waiting at start position)
pb -) tsync: Q[0]=-3 (motion program waiting at start position)
pb -)- py: Q[0]=-2 done
activate py
Note over py: .trigger() #send a start trigger (if needed) after given time
Note over pb: wait for the start trigger
Note over py:Q[10]=1
py-)+pb: start trigger
Note over pb: DesTimeBase=Sys.ServoPeriod
Note over pb: pvt10abs<br/>move to all points
Note over py: while .progress()<br/>wait(Gather.Enable==0)
deactivate py
loop 10 ms
Note over pb: move to next point
end
#activate tsync
#activate tsim
tgss->>tsync: Wait for tsync to Finish
tgss->>tsim: Wait for tsim to Finish
Note over pb: Gather.Enable=0
pb -) py: Gather.Enable=0
pb -) tsync: Gather.Enable=0
pb -)- tsim: Gather.Enable=0
destroy tsync
tsync-->>tgss: exit triggersync_func() thread
destroy tsim
tsim-->>tgss: exit triggersync_func() thread
destroy tgss
tsync-->tgss: Exit Main Thread
activate py
Note over py: .gather_upload()
deactivate py
```