tmp

python/helicalscan.py

@@ -41,8 +41,14 @@ import subprocess as sprc
 from utilities import *
 import telnetlib
 
-d2r=2*np.pi/360
+sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
+#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t')
+#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t/pbtools/misc/')
+from  pbtools.misc.pp_comm import PPComm
+from  pbtools.misc.gather import Gather
+from MXMotion import MotionBase
 
+d2r=2*np.pi/360
 
 #ax.set_xlabel('Z');ax.set_ylabel('X');ax.set_zlabel('Y')
 #plot coordinates: X Y Z
@@ -74,42 +80,9 @@ class Trf:
     m[0:3, 3] =(x,y,z)
     return m
 
-class HelicalScan:
+class HelicalScan(MotionBase):
-  def __init__(self,args):
+  def __init__(self,comm, gather, verbose):
-    if args.cfg:
+    MotionBase.__init__(self,comm, gather, verbose)
-      fh=open(args.cfg,'r')
-      s=fh.read()
-      cfg=json.loads(s, object_hook=ConvUtf8)
-      s=json.dumps(cfg, indent=2, separators=(',', ': '));print(s)
-    else:
-      fn='/tmp/shapepath4'
-      #fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
-      #cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'.npz")']}
-      #cfg = {"sequencer": ['test_find_rot_ctr()']}
-      #cfg = {"sequencer": ['test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)']}
-      cfg = {"sequencer": ['test_coord_trf()']}
-
-    self.cfg=dotdict(cfg)
-    self.args=args
-
-  def sequencer(self):
-    print('args='+str(self.args))
-    print('cfg='+str(self.cfg))
-    #try:
-    #  self.points=np.array(self.cfg.points)
-    #except AttributeError:
-    #  pass
-    try:
-      sequencer= self.cfg.pop('sequencer')
-    except KeyError:
-      print('no command sequence to execute')
-    else:
-      dryrun=self.args.dryrun
-      for cmd in sequencer:
-        print('>'*5+' '+cmd+' '+'<'*5)
-        if not dryrun:
-          eval('self.' + cmd)
-
 
   @staticmethod
   def test_find_rot_ctr(n=3.,per=1.,bias=4.1,ampl=2.4,phi=37):
@@ -146,7 +119,6 @@ class HelicalScan:
     plt.show()
     pass
 
-
   def test_coord_trf(self):
       param = self.param
       cx, cz, w, fy,  = (0.2,0.3,0.1,0.4)
@@ -165,16 +137,6 @@ class HelicalScan:
       (dx,dz,w,y) = self.fwd_transform(cx,cz,w,fy)
       print('fwd_trf: dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y))
 
-
-
-      # plt.ion()
-      # fig = plt.figure()
-
-      # a=anim.FuncAnimation(fig,self.my_anim_func3,100,fargs=(horig,pt),interval=20,blit=False)
-      # plt.show()
-
-  #  def my_anim_func3(self,idx):
-  #    self.hCrist,pt=self.pltCrist(cx=0,ty=0,cz=0,w=10*idx*d2r,h=self.hCrist)
   def mpl_test(self):
     plt.ion()
     fig = plt.figure()
@@ -253,7 +215,6 @@ class HelicalScan:
     fig.obj=self
     fig.data=y
 
-
   @staticmethod
   def onmove(event):
     #print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
@@ -338,7 +299,6 @@ class HelicalScan:
     #l.set_ydata(amp * np.sin(2 * np.pi * freq * t))
     self.fig.canvas.draw_idle()
 
-
   def interactive_dx_dz_w_y(self):
     fig = plt.figure()
     self.ax=ax=plt3d.Axes3D(fig,[0.02, 0.15, 0.96, 0.83])
@@ -383,7 +343,6 @@ class HelicalScan:
     self.hCrist=hCrist;self.fig=fig
     plt.show()
 
-
   def update_dx_dz_w_y(self,val):
     dx = self.sldDx.val
     dz = self.sldDz.val
@@ -423,7 +382,6 @@ class HelicalScan:
     plt.show()
     pass
 
-
   def update_anim(self,frm):
     (cx, cz, w, fy)=self.rec[int(frm),:]
     #data/=. #scale from um to mm
@@ -432,7 +390,6 @@ class HelicalScan:
     self.hCrist,pt=self.pltCrist(-cx,-cz,w,-fy,self.hCrist)
     self.fig.canvas.draw_idle()
 
-
   def anim_gather_data(self,idx):
     (cx, cz, w, fy)=self.rec[int(idx*self.step),:]
     w*=d2r/1000 # scale from deg to rad
@@ -486,7 +443,6 @@ class HelicalScan:
     res=(dx,dz,w,y)
     return res
 
-
   def inv_transform(self,dx,dz,w,y):
     #input:  dx,dz,w,y
     #output: cx,cz,w,fy
@@ -511,7 +467,6 @@ class HelicalScan:
     res=(cx,cz,w,fy)
     return res
 
-
   def calcParamSim(self):
     #simulated test values
     n = 3.;
@@ -532,7 +487,6 @@ class HelicalScan:
       (bias, ampl, phase) = param[i][2:]
     print(param)
 
-
   def calcParam(self,x=((-241.,96.,-53.),(-162.,-293.,246.)),
                      y=(575.,175.),
                      z=((-1401.,-1401.,-1802.),(-1802.,-1303.,-1402.))):
@@ -579,7 +533,6 @@ class HelicalScan:
 
     print(param)
 
-
   def pltOrig(self,m,h=None):
     ax=self.ax
     # m is a 4x4 matrix. the transformed matrix
@@ -603,7 +556,6 @@ class HelicalScan:
       h.set_segments(lines)
       return h
 
-
   def pltCrist(self,cx=0,cz=0,w=0,fy=0,h=None):
     #h are the handles
     ax = self.ax
@@ -661,8 +613,6 @@ class HelicalScan:
 
         hlc=h[5]
         hlc.set_segments(lines)
-
-
     return (h,pt)
 
   def get_meas_lines(self,pt,cx,cz,fy,w):
@@ -702,7 +652,6 @@ class HelicalScan:
     ampl=np.absolute(f[idx])*2/n
     return (bias,ampl,phase)
 
-
   def axSetCenter(self,v,l):
     ax=self.ax
     #v=center vector, l= length of each axis
@@ -711,8 +660,9 @@ class HelicalScan:
     ax.set_ylim(v[0]-l2, v[0]+l2);
     ax.set_zlim(v[1]-l2, v[1]+l2)
 
-
+  def setup_coord_trf(self,fnCrdTrf='/tmp/coordTrf.cfg'):
-  def gen_coord_trf_code(self):
+    comm = self.comm
+    gpascii = comm.gpascii
     param=self.param
     prg = []
     prg.append('''
@@ -834,10 +784,22 @@ close
 #    (p1_x-p0_x)/(p1_y-p0_y)*vY velocity part in vqCX direction, when moving in vY
 #    vqW*p_x velocity part of the rotation (vqW is in rad)
 
-    self.download(prg,mode=0,file='/tmp/coordTrf.cfg')
+    gpascii.send_block('disable plc 0')
+    time.sleep(.5)
+    gpascii.send_block(prg)
+    if self.verbose & 4:
+      for ln in prg:
+        print(ln)
+    if fnCrdTrf is not None :
+      fh=open(fnCrdTrf,'w')
+      fh.write('\n'.join(prg))
+      fh.close()
+    time.sleep(.5)
+    gpascii.send_block('enable plc 0')
+    time.sleep(.5)
+    gpascii.send_block('#1..7j/')
 
-
+  def setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs):
-  def gen_prog(self,prgId=2,mode=0,**kwargs):
     '''
     kwargs:
       acq_per    : acquire period: acquire data all acq_per servo loops (default=1)
@@ -1008,7 +970,6 @@ close
 
     self.download(prg,mode=3,file='/tmp/prg.cfg')
 
-
   def download(self,prg=None,mode=0,file='/tmp/helicalscan.cfg'):
     '''
       mode bits:
@@ -1016,8 +977,8 @@ close
        bit 1 (2): gather and save data
        bit 2 (4): ...
     '''
-    host=self.args.host
+    host=self.host
-    if prg is not None and self.args.verbose & 4:
+    if prg is not None and self.verbose & 4:
       for ln in prg:
         print(ln)
 
@@ -1103,46 +1064,15 @@ class GpasciiCommunicator():
     return p
 
 if __name__=='__main__':
-  from optparse import OptionParser, IndentedHelpFormatter
+  def run_test(args):
-  class MyFormatter(IndentedHelpFormatter):
+    if args.host is None:
-    'helper class for formating the OptionParser'
+      comm=gather=None
-
+    else:
-    def __init__(self):
+      comm = PPComm(host=args.host)
-      IndentedHelpFormatter.__init__(self)
+      gather = Gather(comm)
-
+      gpascii = comm.gpascii
-    def format_epilog(self, epilog):
+    hs=HelicalScan(comm, gather, args.verbose)
-      if epilog:
+    hs.host=args.host # temporary
-        return epilog
-      else:
-        return ""
-
-  def parse_args():
-    'main command line interpreter function'
-    #usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
-    (h, t)=os.path.split(sys.argv[0]);cmd='\n  '+(t if len(h)>3 else sys.argv[0])+' '
-    exampleCmd=('-n',
-                '-v15'
-               )
-    epilog=__doc__+'''
-Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
-
-    fmt=MyFormatter()
-    parser=OptionParser(epilog=epilog, formatter=fmt)
-
-    parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
-    parser.add_option('-n', '--dryrun', action='store_true', help='dryrun to stdout')
-    parser.add_option('--cfg', help='config file containing json configuration structure')
-    parser.add_option('--host', help='hostname')
-
-    (args, other)=parser.parse_args()
-    args.other=other
-
-    hs=HelicalScan(args)
-    hs.args.verbose = 255
-    #hs.args.host='MOTTEST-CPPM-CRM0485'
-    hs.args.host='SAR-CPPM-EXPMX1'
-    #SAR-CPPM-EXPMX1  MOTTEST-CPPM-CRM0485
-    #hs.sequencer()
     #hs.test_find_rot_ctr()
     #hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)
 
@@ -1169,15 +1099,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
       hs.download(['$$$***','!common()','!SAR-EXPMX1()','#1..7j/','enable plc 1','Motor[1].MaxSpeed=25','Motor[2].MaxSpeed=25'])
       raw_input('press return when homed')
     if mode&4:
-      hs.download(['disable plc 0',])
+      hs.setup_coord_trf()
-      time.sleep(.5)
-      hs.gen_coord_trf_code()
-      print ('gen_coord_trf_code')
-      time.sleep(.5)
-      hs.download(['enable plc 0',])
-      time.sleep(.5)
-      hs.download(['#1..7j/',])
-    time.sleep(.5)
 
     #hs.gen_prog(mode=-1)
     #hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
@@ -1193,7 +1115,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
     #hs.gen_prog(mode=0,cntHor=3,cntVert=10,hRng=(-5,5),wRng=(0,120000))
     #hs.gen_prog(mode=0,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000))
     #hs.gen_prog(mode=1,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000),smt=0,pt2pt_time=300)
-    hs.gen_prog(mode=1,cntHor=5,cntVert=25,hRng=(-100,100),wRng=(0,120000),smt=0,pt2pt_time=300)
+    hs.setup_motion(mode=1,cntHor=5,cntVert=25,hRng=(-100,100),wRng=(0,120000),smt=0,pt2pt_time=300)
     #hs.gen_prog(mode=1,cntHor=5,cntVert=25,hRng=(-100,100),wRng=(0,120000),smt=0,pt2pt_time=40)
     #hs.gen_prog(mode=1,cntHor=3,cntVert=20,hRng=(-5,5),wRng=(0,1200),smt=0,pt2pt_time=200)
     #hs.gen_prog(mode=1, cntHor=2, cntVert=2, wRng=(0, 360000), smt=0)
@@ -1207,6 +1129,42 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
     #hs.show_vel();    plt.show()
     #hs.show_pos();    plt.show()
 
+
+
+
+
+  from optparse import OptionParser, IndentedHelpFormatter
+  class MyFormatter(IndentedHelpFormatter):
+    'helper class for formating the OptionParser'
+
+    def __init__(self):
+      IndentedHelpFormatter.__init__(self)
+
+    def format_epilog(self, epilog):
+      if epilog:
+        return epilog
+      else:
+        return ""
+
+  def parse_args():
+    'main command line interpreter function'
+    #usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
+    (h, t)=os.path.split(sys.argv[0]);cmd='\n  '+(t if len(h)>3 else sys.argv[0])+' '
+    exampleCmd=('-n',
+                '-v15'
+               )
+    epilog=__doc__+'''
+Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
+
+    fmt=MyFormatter()
+    parser=OptionParser(epilog=epilog, formatter=fmt)
+
+    parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=255)
+    parser.add_option('--host', help='hostname', default='SAR-CPPM-EXPMX1')
+
+    (args, other)=parser.parse_args()
+    args.other=other
+    run_test(args)
     return
 
   #------------------ Main Code ----------------------------------