first running sync with rt-C-code
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@@ -45,6 +45,11 @@ class MotionBase:
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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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flag=0 : real start and frame trigger
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flag=1 : simulated start and real frame trigger
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flag=2 : real start and simulated frame trigger
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flag=3 : simulated start and frame trigger
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pt2pt_time : time point to point (needed sor sync code)
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'''
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if mode==0:
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try:
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@@ -53,15 +58,15 @@ class MotionBase:
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pass
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self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
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elif mode==1:
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# code block to insert in the program
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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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# flag ='PowerBrick[0].GpioData[0].0.1==1'
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flag0='Gate3[1].Chan[0].UserFlag'
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flag1='Gate3[1].Chan[1].UserFlag'
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flag0='P0';flag1='P1'
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prg = '''
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elif mode in(1,2):
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#frequence jitter 50Hz Swissgrid:
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#https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
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flag=kwargs.get('flag',0);
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pt2pt_time=kwargs.get('pt2pt_time',40);
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flag0='Coord[1].Q[10]' if flag&1 else 'Gate3[1].Chan[0].UserFlag'
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flag1='Coord[1].Q[11]' if flag&2 else 'Gate3[1].Chan[1].UserFlag'
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if mode==1:
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prg = '''
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Coord[1].Q[1]=-2
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Coord[1].TimeBaseSlew=1 //1E-4 is default
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Coord[1].DesTimeBase=0
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@@ -71,36 +76,41 @@ class MotionBase:
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while({flag1}==0){{}}
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Coord[1].DesTimeBase=Sys.ServoPeriod
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'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
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else:
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prg = '''
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//Gather.Enable=2 is done in the sync program
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Coord[1].TimeBaseSlew=1 //1E-4 is default
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Coord[1].DesTimeBase=0
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Coord[1].Q[1]=-1
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'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
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self.sync_prg = prg
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self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
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elif mode==2:
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#frequence jitter 50Hz Swissgrid:
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#https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
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flag0='Gate3[1].Chan[0].UserFlag'
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flag1='Gate3[1].Chan[1].UserFlag'
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flag0='P0';flag1='P1'
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prg='''
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//Gather.Enable=2 is done in the sync program
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Coord[1].TimeBaseSlew=1 //1E-4 is default
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Coord[1].DesTimeBase=0
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Coord[1].Q[1]=-1
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'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
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self.sync_prg=prg
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self.sync_run='&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
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#download and start triggerSync code
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comm=self.comm
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sftp=comm.sftp
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dst='/tmp/triggerSync'
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src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
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sftp.put(src, dst)
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sftp.chmod(dst, 0o755)
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self.cmdSync=cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
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#self.syncShell=comm.shell_channel(cmd)
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self.syncChan=sc=comm._client.exec_command(cmd)
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#ch=sc[1].channel
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#ch.settimeout(1)
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print ('starting '+cmd)
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trigMode=0;
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if mode==2:trigMode+=1 #synchronize
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trigMode+=flag*2 #simulated or real triggers
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trigMode+=8 # verbose
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if mode==2 or trigMode&4:
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sftp = comm.sftp
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dst = '/tmp/triggerSync'
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src = os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
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sftp.put(src, dst)
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sftp.chmod(dst, 0o755)
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cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
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cmd+=' %g %d'%(pt2pt_time,trigMode)
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self.cmdSync = cmd
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print ('starting '+cmd)
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self.syncShell=comm.shell_channel(cmd)
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#self.syncChan=sc=comm._client.exec_command(cmd)
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#ch=sc[1].channel
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#ch.settimeout(1)
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#sc[1].channel.setblocking(False)
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#sc[1].read(100)
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if flag&1:
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print('set Coord[1].Q[10]=1 to start motion')
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def run(self):
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'runs the code sync_run which has been generated with setup_sync()'
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@@ -112,17 +122,4 @@ class MotionBase:
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raise 'Need to call setup sync before'
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gpascii.send_block(cmd)
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dst='/tmp/triggerSync'
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src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
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cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
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# self.syncShell=comm.shell_channel(cmd)
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try:
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cmd=self.cmdSync
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except AttributeError: pass
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else:
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import time
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time.sleep(1)
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self.syncChan=sc=comm._client.exec_command(cmd)
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@@ -286,7 +286,7 @@ class ShapePath(MotionBase):
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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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def setup_gather(self,acq_per=1,sim=False):
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'''
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setup the channels to gather
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kwargs:
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@@ -295,9 +295,10 @@ class ShapePath(MotionBase):
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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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address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Gate3[1].Chan[1].UserFlag")
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address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Sys.P[1]")
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#address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Coord[1].Q[1]")
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if sim:
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address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Coord[1].Q[11]")
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else:
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address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Gate3[1].Chan[1].UserFlag")
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gt.set_address(*address)
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gt.set_property(MaxSamples=1000000, Period=acq_per)
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@@ -492,9 +493,6 @@ class ShapePath(MotionBase):
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else:
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print(syncShell.sync())
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del self.syncShell
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syncShell.close()
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pts=self.points
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ofsy=-rec[0,2]+pts[0,1]
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@@ -832,17 +830,37 @@ if __name__=='__main__':
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# [0., 1.]])
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#sp.points*=100
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#sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0))
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sp.gen_spiral_points(rStart=100,rInc=10,numSeg=8,numCir=12, ofs=(0, 0))
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sp.gen_spiral_points(rStart=100,rInc=20,numSeg=8,numCir=32, ofs=(0, 0))
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#sp.gen_closed_shifted()
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#sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);
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#sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0))
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#sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0)
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#sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=1)
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#works: direct start
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#sp.setup_gather(acq_per=1)
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#sp.setup_sync(mode=0)
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#works: simulated start and frame trigger no sync
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#sp.setup_gather(acq_per=1,sim=True)
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#sp.setup_sync(mode=1,flag=3,pt2pt_time=40)
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#works: simulated start and frame trigger with sync
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#sp.setup_gather(acq_per=1,sim=True)
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#sp.setup_sync(mode=2,flag=3,pt2pt_time=40)
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#works: simulated start real frame trigger no sync
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#sp.setup_gather(acq_per=1)
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#sp.setup_sync(mode=1,flag=1,pt2pt_time=40)
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#works: simulated start real frame trigger with sync
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sp.setup_gather(acq_per=1)
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sp.setup_sync(mode=1) #sync with timing system and PLC to sync speed (PROG)
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sp.setup_sync(mode=2,flag=1,pt2pt_time=40)
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sp.setup_coord_trf() # reset to shape path system
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sp.setup_motion(fnPrg=fn + '.prg', mode=3, pt2pt_time=40,scale=1,dwell=10)
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#sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0,dwell=10)
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sp.run()
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sp.gather_upload(fnRec=fn+'.npz')
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sp.plot_gather(mode=11)
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