first running sync with rt-C-code

python/MXMotion.py

@@ -45,6 +45,11 @@ class MotionBase:
                 self.sync_wait and self.sync_run
                 sync_wait can be put in the program to force a timing sync
                 sync_run are the commands to run the whole program
+       flag=0 : real start and frame trigger
+       flag=1 : simulated start and real frame trigger
+       flag=2 : real start and simulated frame trigger
+       flag=3 : simulated start and frame trigger
+       pt2pt_time : time point to point (needed sor sync code)
        '''
     if mode==0:
       try:
@@ -53,15 +58,15 @@ class MotionBase:
         pass
       self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
 
-    elif mode==1:
-      # code block to insert in the program
-      # - waits untis <flag> is false
-      # - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
-      # flag ='PowerBrick[0].GpioData[0].0.1==1'
-      flag0='Gate3[1].Chan[0].UserFlag'
-      flag1='Gate3[1].Chan[1].UserFlag'
-      flag0='P0';flag1='P1'
-      prg = '''
+    elif mode in(1,2):
+      #frequence jitter 50Hz Swissgrid:
+      #https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
+      flag=kwargs.get('flag',0);
+      pt2pt_time=kwargs.get('pt2pt_time',40);
+      flag0='Coord[1].Q[10]' if flag&1 else 'Gate3[1].Chan[0].UserFlag'
+      flag1='Coord[1].Q[11]' if flag&2 else 'Gate3[1].Chan[1].UserFlag'
+      if mode==1:
+        prg = '''
   Coord[1].Q[1]=-2
   Coord[1].TimeBaseSlew=1 //1E-4 is default 
   Coord[1].DesTimeBase=0
@@ -71,36 +76,41 @@ class MotionBase:
   while({flag1}==0){{}}
   Coord[1].DesTimeBase=Sys.ServoPeriod
   '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
+      else:
+        prg = '''
+  //Gather.Enable=2 is done in the sync program
+  Coord[1].TimeBaseSlew=1 //1E-4 is default 
+  Coord[1].DesTimeBase=0
+  Coord[1].Q[1]=-1
+        '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
+
       self.sync_prg = prg
       self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
-    elif mode==2:
-      #frequence jitter 50Hz Swissgrid:
-      #https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
-      flag0='Gate3[1].Chan[0].UserFlag'
-      flag1='Gate3[1].Chan[1].UserFlag'
-      flag0='P0';flag1='P1'
-      prg='''
-      //Gather.Enable=2 is done in the sync program
-      Coord[1].TimeBaseSlew=1 //1E-4 is default 
-      Coord[1].DesTimeBase=0
-      Coord[1].Q[1]=-1
-      '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
-      self.sync_prg=prg
-      self.sync_run='&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
       #download and start triggerSync code
       comm=self.comm
 
-      sftp=comm.sftp
-      dst='/tmp/triggerSync'
-      src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
-      sftp.put(src, dst)
-      sftp.chmod(dst, 0o755)
-      self.cmdSync=cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
-      #self.syncShell=comm.shell_channel(cmd)
-      self.syncChan=sc=comm._client.exec_command(cmd)
-      #ch=sc[1].channel
-      #ch.settimeout(1)
-      print ('starting '+cmd)
+      trigMode=0;
+      if mode==2:trigMode+=1  #synchronize
+      trigMode+=flag*2        #simulated or real triggers
+      trigMode+=8 # verbose
+      if mode==2 or trigMode&4:
+        sftp = comm.sftp
+        dst = '/tmp/triggerSync'
+        src = os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
+        sftp.put(src, dst)
+        sftp.chmod(dst, 0o755)
+        cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
+        cmd+=' %g %d'%(pt2pt_time,trigMode)
+        self.cmdSync = cmd
+        print ('starting '+cmd)
+        self.syncShell=comm.shell_channel(cmd)
+        #self.syncChan=sc=comm._client.exec_command(cmd)
+        #ch=sc[1].channel
+        #ch.settimeout(1)
+        #sc[1].channel.setblocking(False)
+        #sc[1].read(100)
+        if flag&1:
+          print('set Coord[1].Q[10]=1 to start motion')
 
   def run(self):
     'runs the code sync_run which has been generated with setup_sync()'
@@ -112,17 +122,4 @@ class MotionBase:
       raise 'Need to call setup sync before'
     gpascii.send_block(cmd)
 
-    dst='/tmp/triggerSync'
-    src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
-    cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
-    # self.syncShell=comm.shell_channel(cmd)
-
-    try:
-      cmd=self.cmdSync
-    except AttributeError: pass
-    else:
-      import time
-      time.sleep(1)
-      self.syncChan=sc=comm._client.exec_command(cmd)
-