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SFELPHOTON-1128: debug stup-and-go motion(2)

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This commit is contained in:
zamofing_t
2024-05-15 17:03:50 +02:00
parent 13d010dd7e
commit 5a26b7f47c
2 changed files with 31 additions and 26 deletions
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49
python/shapepath.py
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@@ -727,7 +727,7 @@ class ShapePath(MotionBase):
_log.warning('missing motion sync code!')
# this uses Coord[1].Tm and limits with MaxSpeed
if mode in (1,3,4,5): #### pvt motion
pt2pt_time=self.meta['pt2pt_time']
pt2pt_time=self.meta['fel_per']
ts=self.meta['srv_per']
scale=kwargs.get('scale', 1.)
cnt=kwargs.get('cnt', 1) # move path multiple times
@@ -1024,27 +1024,27 @@ if __name__=='__main__':
#sp = ShapePath(comm, gather, args.verbose)
# direct start
sp = ShapePath(comm, gather, args.verbose,sync_mode=0,pt2pt_time=10)
sp = ShapePath(comm, gather, args.verbose,fel_per=10,sync_mode=0)
#simulated start and frame trigger no sync
#sp = ShapePath(comm, gather, args.verbose,sync_mode=1,sync_flag=3)
#sp = ShapePath(comm, gather, args.verbose,fel_per=10,sync_mode=1,sync_flag=3)
#simulated start and frame trigger with sync
#sp = ShapePath(comm, gather, args.verbose,sync_mode=2,sync_flag=3)
#sp = ShapePath(comm, gather, args.verbose,fel_per=10,sync_mode=2,sync_flag=3)
#simulated start real frame trigger no sync
#sp = ShapePath(comm, gather, args.verbose,sync_mode=1,sync_flag=1)
#sp = ShapePath(comm, gather, args.verbose,fel_per=10,sync_mode=1,sync_flag=1)
#simulated start real frame trigger with sync
#sp = ShapePath(comm, gather, args.verbose,sync_mode=2,sync_flag=1)
#sp = ShapePath(comm, gather, args.verbose,fel_per=10,sync_mode=2,sync_flag=1)
fn='/tmp/shapepath'
#fn =unique_filename('ShapePathAnalyser/records/19_01_24/spiral')
# Gather.MaxLines=116508
# ts=0.2ms
# max_num_points=(MaxLines*ts-1000ms)/(+acq_per*pt2pt_time*ts)
# pt2pt_time acq_per maxpts
# max_num_points=(MaxLines*ts-1000ms)/(+acq_per*fel_per*ts)
# fel_per acq_per maxpts
# 40ms 1 555
# 40ms 2 1135
# 40ms 3 1715
@@ -1081,12 +1081,24 @@ if __name__=='__main__':
#gp.spiral(rStart=100,rInc=10,numSeg=4,numCir=32, ofs=(0, 0))
#gp.closed_shifted()
#gp.grid(w=10,h=15,pitch=120,rnd=0,ofs=(-1000,-1200));gp.sort(mode=0,grp_sz=10)
#gp.grid(w=10,h=15,pitch=120,rnd=0,ofs=(-1000,-1200));gp.sort(grp_sz=15)
gp.grid(w=10,h=15,pitch=120,rnd=0,ofs=(-1000,-1200));gp.sort(grp_sz=15)
# for motion mode 4,5
grid={'pos':(-1000, -1200), 'pitch':(120, 120), 'count':(10, 11)}
grid={'pos':(-1000, -1200), 'pitch':(120, 120), 'count':(10, 15)}
sp.meta['pt2pt_time']=10
# mode:0 unused
# mode:1 pvt motion
# mode:2 unused
# mode:3 pvt motion using inverse fft velocity
# mode:4 pvt motion short code using grid parameters
# mode:5 pvt motion short code using grid parameters. Instead of continous motion it moves and waits as give in the parameter time
mode=3
if mode==5:
tmove=20; twait=100
pt2pt_time=tmove+twait
else:
pt2pt_time=sp.meta['fel_per']
sp.meta['pt2pt_time']=pt2pt_time
try:
num_pts=gp.points.shape[0]
except AttributeError as e:
@@ -1099,7 +1111,7 @@ if __name__=='__main__':
gtMaxLn=int(sp.comm.gpascii.get_variable('Gather.MaxLines')) # 116508
ovhdTime=100
acq_per=int(np.ceil((sp.meta['pt2pt_time']*num_pts+ovhdTime)/(gtMaxLn*sp.meta['srv_per'])))
acq_per=int(np.ceil((pt2pt_time*num_pts+ovhdTime)/(gtMaxLn*sp.meta['srv_per'])))
if args.verbose&0x01:
_log.info(f'''\
Gather.MaxLines:{gtMaxLn}
@@ -1111,21 +1123,14 @@ if __name__=='__main__':
sp.setup_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
sp.setup_coord_trf() # reset to shape path system
# mode:0 unused
# mode:1 pvt motion
# mode:2 unused
# mode:3 pvt motion using inverse fft velocity
# mode:4 pvt motion short code using grid parameters
# mode:5 pvt motion short code using grid parameters. Instead of continous motion it moves and waits as give in the parameter time
mode=4
if mode==1:
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=mode,points=sp.mot_pts)
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=mode,points=gp.points)
elif mode==3:
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=mode,points=sp.mot_pts)
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=mode,points=gp.points)
elif mode==4:
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=4,grid=grid)
elif mode==5:
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,tmove=20 ,twait=30, grid=grid)
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,tmove=tmove ,twait=twait, grid=grid)
sp.homing() #homing if needed
sp.run() #start motion program