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

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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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8
python/MXMotion.py
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@@ -45,7 +45,7 @@ class MotionBase:
else: else:
ServoPeriod=comm.gpascii.servo_period*1000 ServoPeriod=comm.gpascii.servo_period*1000
self.meta={'srv_per':ServoPeriod,'pt2pt_time':40,'sync_flag':0,'sync_mode':2} self.meta={'srv_per':ServoPeriod,'fel_per':10,'sync_flag':0,'sync_mode':2}
self.meta.update(kwargs) self.meta.update(kwargs)
def setup_sync(self, crdId=1, prgId=2,verbose=False, timeOfs=0.,timeCor=0.): def setup_sync(self, crdId=1, prgId=2,verbose=False, timeOfs=0.,timeCor=0.):
@@ -67,11 +67,11 @@ class MotionBase:
1 : simulated start and real frame trigger 1 : simulated start and real frame trigger
2 : real start and simulated frame trigger 2 : real start and simulated frame trigger
3 : simulated start and frame trigger 3 : simulated start and frame trigger
pt2pt_time : time point to point (needed sor sync code) fel_per : FEL-period: time FEL-pulse to FEL-pulse in ms (needed for sync code)
''' '''
sync_mode=self.meta['sync_mode'] sync_mode=self.meta['sync_mode']
sync_flag=self.meta['sync_flag'] sync_flag=self.meta['sync_flag']
pt2pt_time=self.meta['pt2pt_time'] fel_per=self.meta['fel_per']
_log.info({0:'no sync at all',1:'sync at start only',2:'sync on each shot'}[sync_mode]) _log.info({0:'no sync at all',1:'sync at start only',2:'sync on each shot'}[sync_mode])
if sync_mode!=0: if sync_mode!=0:
@@ -129,7 +129,7 @@ Coord[1].Q[0]=-3 //motion program started and waits. Arm(-2) is done in triggerS
sftp.chmod(dst, 0o755) sftp.chmod(dst, 0o755)
cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
#cmd+=' %d %g %g %g'%(mode,pt2pt_time,timeOfs,timeCor) #cmd+=' %d %g %g %g'%(mode,pt2pt_time,timeOfs,timeCor)
cmd+=' %d %g %g'%(mode,pt2pt_time+timeCor,timeOfs) cmd+=' %d %g %g'%(mode,fel_per+timeCor,timeOfs)
self.cmdSync = cmd self.cmdSync = cmd
print ('starting '+cmd) print ('starting '+cmd)
self.syncShell=comm.shell_channel(cmd) self.syncShell=comm.shell_channel(cmd)

49
python/shapepath.py
View File

@@ -727,7 +727,7 @@ class ShapePath(MotionBase):
_log.warning('missing motion sync code!') _log.warning('missing motion sync code!')
# this uses Coord[1].Tm and limits with MaxSpeed # this uses Coord[1].Tm and limits with MaxSpeed
if mode in (1,3,4,5): #### pvt motion 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'] ts=self.meta['srv_per']
scale=kwargs.get('scale', 1.) scale=kwargs.get('scale', 1.)
cnt=kwargs.get('cnt', 1) # move path multiple times cnt=kwargs.get('cnt', 1) # move path multiple times
@@ -1024,27 +1024,27 @@ if __name__=='__main__':
#sp = ShapePath(comm, gather, args.verbose) #sp = ShapePath(comm, gather, args.verbose)
# direct start # 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 #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 #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 #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 #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='/tmp/shapepath'
#fn =unique_filename('ShapePathAnalyser/records/19_01_24/spiral') #fn =unique_filename('ShapePathAnalyser/records/19_01_24/spiral')
# Gather.MaxLines=116508 # Gather.MaxLines=116508
# ts=0.2ms # ts=0.2ms
# max_num_points=(MaxLines*ts-1000ms)/(+acq_per*pt2pt_time*ts) # max_num_points=(MaxLines*ts-1000ms)/(+acq_per*fel_per*ts)
# pt2pt_time acq_per maxpts # fel_per acq_per maxpts
# 40ms 1 555 # 40ms 1 555
# 40ms 2 1135 # 40ms 2 1135
# 40ms 3 1715 # 40ms 3 1715
@@ -1081,12 +1081,24 @@ if __name__=='__main__':
#gp.spiral(rStart=100,rInc=10,numSeg=4,numCir=32, ofs=(0, 0)) #gp.spiral(rStart=100,rInc=10,numSeg=4,numCir=32, ofs=(0, 0))
#gp.closed_shifted() #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(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 # 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: try:
num_pts=gp.points.shape[0] num_pts=gp.points.shape[0]
except AttributeError as e: except AttributeError as e:
@@ -1099,7 +1111,7 @@ if __name__=='__main__':
gtMaxLn=int(sp.comm.gpascii.get_variable('Gather.MaxLines')) # 116508 gtMaxLn=int(sp.comm.gpascii.get_variable('Gather.MaxLines')) # 116508
ovhdTime=100 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: if args.verbose&0x01:
_log.info(f'''\ _log.info(f'''\
Gather.MaxLines:{gtMaxLn} 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_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
sp.setup_coord_trf() # reset to shape path system 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: 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: 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: elif mode==4:
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=4,grid=grid) sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=4,grid=grid)
elif mode==5: 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.homing() #homing if needed
sp.run() #start motion program sp.run() #start motion program