add preliminary PBMotionAnalyzer.py
This commit is contained in:
@@ -1,180 +0,0 @@
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#!/usr/bin/env python
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# *-----------------------------------------------------------------------*
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# | |
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# | Copyright (c) 2015 by Paul Scherrer Institute (http://www.psi.ch) |
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# | |
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# | Author Thierry Zamofing (thierry.zamofing@psi.ch) |
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# *-----------------------------------------------------------------------*
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'''
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gathers data on powerpmac and plot
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#mode bits:
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0 1 configure acquisition -> needs -c
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1 2 start acquisition ->Gather.Enable=2
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2 4 stop acquisition ->Gather.Enable=0
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3 8 wait acquisition stopped ->while(1){if(Gather.Enable==0) break}
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4 16 upload acquisition
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5 32 plot acquisition -> needs -a (or -c)
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mode 1+2+8+16+32 | user sets a stop
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mode 1+2 | motion, wait some time| #mode 4+16+32
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mode 1+8+16+32 | start acqu, do motion stop acqu.
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verbose bits:
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1 basic info
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2 wait progress
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4 upload progress
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#config file example:
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{
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"channels": [
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"Motor[1].ActPos",
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"Motor[9].ActPos",
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"Motor[10].ActPos",
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"Motor[11].ActPos",
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"PowerBrick[0].GpioData[0]"
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],
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"axes": [
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[0, "b", "ActPos 1"],
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[1, "g", "ActPos_9"],
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[2, "r", "ActPos_10"],
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[3, "m", "ActPos_11"],
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[4, ["bits", 15, 3], "GPIO"]],
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"gather": {
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"MaxSamples":1000,
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"Period":10
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}
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}
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Acquired time is:MaxSamples*Period*.2
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'''
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#gatherPlot
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#channels -c '[Sys.ServoCount,Motor[1].ActPos,Motor[9].ActPos,Motor[10].ActPos,Motor[11].ActPos,PowerBrick[0].GpioData[0]]'
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#axis -a '(((0,1),'b','ActPos 1'), ((0,2),'g','ActPos 9'), ((0,3),'r','ActPos 10'), ((0,4),'m','ActPos 11'), ((0,5),('bits',14,18),'GPIO'))
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#('bits',14,18) means decode bits 14-18
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#
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#check: Gather.Enable Gather.Index
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#on PPMAC do something like:
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#Gather.Items=6
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#Gather.MaxSamples=10000
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#Gather.Period=10
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#Gather.Addr[0]=Sys.ServoCount.a
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#Gather.Addr[1]=Motor[1].ActPos.a
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#Gather.Addr[2]=Motor[9].ActPos.a
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#Gather.Addr[3]=Motor[10].ActPos.a
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#Gather.Addr[4]=Motor[11].ActPos.a
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#Gather.Addr[5]=PowerBrick[0].GpioData[0].a
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#
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#Gather.Enable=2
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## move the motor[1]
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#Gather.Enable=0
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#
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#1;&1;#1->1000X
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#k;j=0;P1=1000
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#b3r
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# to run that script without password, make first an ssh connection e.g. ssh root@PPMACZT84
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#
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import os, sys, json
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import numpy as np
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import matplotlib as mpl
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import subprocess as sprc
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class GatherPlot:
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def __init__(self):
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pass
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def plot1(self):
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import matplotlib.pyplot as plt
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fnLoc='/tmp/gather.txt'
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data = np.genfromtxt(fnLoc, delimiter=' ')
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x=np.arange(data.shape[0])*2. #-> msec
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pass #-> needs -a (or -c)
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fig=plt.figure()
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ax0 = fig.add_subplot(1,1,1)
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ax0.set_xlabel('msec')
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ax=[ax0,]
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axArgs=[(0,'r','A'),(1,'g','B'),(2,'b','C')]
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for i in range(len(axArgs)-1):
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ax.append(ax0.twinx())
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fig.subplots_adjust(right=0.75)
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n=(len(ax)-2);dx=.2/n
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for i in range(n):
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ax[2+i].spines['right'].set_position(('axes', 1+dx*(1+i)))
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ax[2+i].set_frame_on(True)
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ax[2+i].patch.set_visible(False)
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for i in range(len(axArgs)):
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idx,param,lbl=axArgs[i]
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col=param
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ax[i].set_ylabel(lbl, color=col)
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ax[i].plot(x, data[:,idx], color=col)
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ax[i].tick_params(axis='y', colors=col)
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plt.show()
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def plot(self):
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import matplotlib.pyplot as plt
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fnLoc='/tmp/gather.txt'
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data = np.genfromtxt(fnLoc, delimiter=' ')
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fig=plt.figure()
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ax0 = fig.add_subplot(1,1,1)
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ax0.set_xlabel('msec')
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ax=[ax0,]
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#fig.subplots_adjust(right=0.75)
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col='b'
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#idx=1
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#ax[0].set_ylabel(ch[idx], color=col)
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x=data[:,1]
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y=data[:,2]
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hl=ax[0].plot(x, y, color=col)
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ax[0].tick_params(axis='y', colors=col)
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cid = fig.canvas.mpl_connect('scroll_event', self.onclick)
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fig.obj=self
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self.data=data
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#self.ch=ch
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self.idx=1
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self.ax=ax
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self.col=col
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self.hl=hl
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plt.show()
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@staticmethod
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def onclick(event):
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#print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
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# event.button, event.x, event.y, event.xdata, event.ydata)
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obj=event.canvas.figure.obj
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if event.button=='up':
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if obj.idx<len(obj.ch)-1:
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obj.idx+=1
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else:
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if obj.idx>0:
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obj.idx-=1
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obj.ax[0].set_ylabel(obj.ch[obj.idx], color=obj.col)
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d=obj.data[:,obj.idx]
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if obj.args.diff:
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d=np.diff(d)
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obj.hl[0].set_ydata(d)
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#obj.ax[0].plot(x, obj.data[:,obj.idx]obj.data[:,obj.idx]obj.data[:,obj.idx], color=obj.col)
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min=bottom=d.min()
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max=d.max()
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delta=(max-min)/10.
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obj.ax[0].set_ylim(bottom=min-delta,top=max+delta,emit=True,auto=True)
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event.canvas.figure.show()
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if __name__=='__main__':
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gp=GatherPlot()
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gp.plot()
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232
python/PBMotionAnalyzer.py
Normal file
232
python/PBMotionAnalyzer.py
Normal file
@@ -0,0 +1,232 @@
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import os,sys
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import wx
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import wx.py
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import numpy as np
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#from hdfTree import *
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#from hdfGrid import *
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#from hdfAttrib import *
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#from hdfImage import *
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import utilities as ut
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class Path():
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@staticmethod
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def GetImage():
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path=__file__
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try:symPath=os.readlink(path) #follow symbolic link
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except (AttributeError,OSError) as e:pass
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else:
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path=symPath
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path=os.path.abspath(path)
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path=os.path.dirname(path)
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return os.path.join(path,'images')
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class AboutFrame(wx.Frame):
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def __init__(self,parent):
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wx.Frame.__init__(self,parent,-1,'About MotionAnalyzer',size=(300,330))
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imgDir=Path.GetImage()
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icon = wx.Icon(os.path.join(imgDir,'PBMA.ico'), wx.BITMAP_TYPE_ICO)
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self.SetIcon(icon)
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self.Centre()
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panel=wx.Panel(self,-1)
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#import pkg_resources
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#v=pkg_resources.get_distribution("h5pyViewer")
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v='my version info'
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s='Version:'+str(v)+'\n(c) www.psi.ch\n Author: Thierry Zamofing\n thierry.zamofing@psi.ch'
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st0=wx.StaticText(panel,-1,s,(30,10))
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bmp = wx.StaticBitmap(panel,-1,wx.Bitmap(os.path.join(imgDir,'PBMA.png'), wx.BITMAP_TYPE_ANY ), (30,st0.Position[1]+st0.Size[1]+10))
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for k,v in os.environ.iteritems():
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print k,'=',v
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class MAMainFrame(wx.Frame):
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def OpenFile(self,fn_npz):
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try:
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self.fh=fh=np.load(fn_npz)
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except IOError as e:
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sys.stderr.write('Unable to open File: '+fn_npz+'\n')
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else:
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pass
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s='content of numpy file: '+fn_npz+'\n'
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for k,v in fh.iteritems():
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s+=' '+k+': '+str(v.dtype)+' '+str(v.shape)+'\n'
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self.wxTxt.SetLabel(s)
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#self.wxTree.ShowHirarchy(self.fid)
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def CloseFile(self):
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#http://docs.wxwidgets.org/2.8/wx_windowdeletionoverview.html#windowdeletionoverview
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#print 'CloseFile'
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try:
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self.fh.close()
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del self.fh
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except AttributeError as e:
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pass
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def __init__(self, parent, title):
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wx.Frame.__init__(self, parent, title=title, size=wx.Size(650, 350))
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imgDir=Path.GetImage()
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icon = wx.Icon(os.path.join(imgDir,'PBMA.ico'), wx.BITMAP_TYPE_ICO)
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self.SetIcon(icon)
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#wxSplt = wx.SplitterWindow(self, -1)
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#wxTree = HdfTreeCtrl(wxSplt, 1, wx.DefaultPosition, (-1,-1), wx.TR_HAS_BUTTONS)
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#wxTree.Bind(wx.EVT_TREE_SEL_CHANGED, self.OnSelChanged, id=1)
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#wxTree.Bind(wx.EVT_TREE_ITEM_MENU, self.OnMenu, id=1)
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#wx.EVT_TREE_ITEM_MENU(id, func)
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#wxTxt = wx.StaticText(wxSplt, -1, '',(10,10) )#, style=wx.ALIGN_CENTRE)
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self.wxTxt = wx.StaticText(self, wx.ID_ANY, "MyLabel", wx.DefaultPosition, wx.DefaultSize, 0 )
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#wxSplt.SplitVertically(wxTree, wxTxt)
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#wxSplt.SetMinimumPaneSize(320)
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#wxLstCtrl=HdfAttrListCtrl(wxSplt)
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#wxSplt.SplitVertically(wxTree, wxLstCtrl)
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self.BuildMenu()
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self.Centre()
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#self.wxTree=wxTree
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#self.display=wxTxt
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def __del__(self):
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self.CloseFile()
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def OnOpen(self, event):
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dlg = wx.FileDialog(self, "Choose a file", os.getcwd(), '','numpy files (*.npz;*.npy)|*.npz;*.npy|all (*.*)|*.*', wx.OPEN|wx.FD_CHANGE_DIR)
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if dlg.ShowModal() == wx.ID_OK:
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path = dlg.GetPath()
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#mypath = os.path.basename(path)
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#self.SetStatusText("You selected: %s" % mypath)
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self.CloseFile()
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self.OpenFile(path)
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#print 'OnOpen',path
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dlg.Destroy()
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def OnCloseWindow(self, event):
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#print 'OnCloseWindow'
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self.Destroy()
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def OnAbout(self,event):
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frame=AboutFrame(self)
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frame.Show()
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def BuildMenu(self):
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#http://wiki.wxpython.org/AnotherTutorial#wx.MenuBar
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mnBar = wx.MenuBar()
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#-------- File Menu --------
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mn = wx.Menu()
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mnItem=mn.Append(wx.ID_OPEN, '&Open', 'Open a new document');self.Bind(wx.EVT_MENU, self.OnOpen, mnItem)
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#mnSub = wx.Menu()
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#mnItem=mnSub.Append(wx.ID_ANY, 'SubMenuEntry', 'My SubMenuEntry')
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#mn.AppendMenu(wx.ID_ANY, 'SubMenu', mnSub)
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mn.AppendSeparator()
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mnItem=mn.Append(wx.ID_EXIT, '&Quit', 'Quit the Application');self.Bind(wx.EVT_MENU, self.OnCloseWindow, mnItem)
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mnBar.Append(mn, '&File')
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self.Bind(wx.EVT_CLOSE, self.OnCloseWindow)
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#-------- Edit Menu --------
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mn = wx.Menu()
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mnItem = mn.Append(wx.ID_ANY, 'Show &XY-Path', 'Show XY-path motion path');self.Bind(wx.EVT_MENU, self.OnShowXYPath, mnItem)
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mnItem = mn.Append(wx.ID_ANY, 'Show &Error', 'Show error of motion path');self.Bind(wx.EVT_MENU, self.OnShowError, mnItem)
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mnItem = mn.Append(wx.ID_ANY, 'Show &Velocity', 'Show velocity of motion path');self.Bind(wx.EVT_MENU, self.OnShowVelocity, mnItem)
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mnItem = mn.Append(wx.ID_ANY, '&Python Shell', 'Opens an interactive python shell"');self.Bind(wx.EVT_MENU, self.OnShell, mnItem)
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mnBar.Append(mn, '&Window')
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#-------- Help Menu --------
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mn = wx.Menu()
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#mnItem=mn.Append(wx.ID_HELP,'Help','Application Help')
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mnItem=mn.Append(wx.ID_ABOUT,'About','Application About');self.Bind(wx.EVT_MENU, self.OnAbout, mnItem)
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mnBar.Append(mn, '&Help')
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#mn.AppendSeparator()
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#mnItem = wx.MenuItem(mn, 105, '&Quit\tCtrl+Q', 'Quit the Application')
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#mnItem.SetBitmap(wx.Image('stock_exit-16.png', wx.BITMAP_TYPE_PNG).ConvertToBitmap())
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#mn.AppendItem(mnItem)
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self.SetMenuBar(mnBar)
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self.CreateStatusBar()
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def OnShowXYPath(self, event):
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pass
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def OnShowError(self, event):
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pass
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def OnShowVelocity(self, event):
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pass
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def OnShell(self, event):
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frame = wx.Frame(self, -1, "wxPyShell",size=wx.Size(800, 500))
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imgDir=Path.GetImage()
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icon = wx.Icon(os.path.join(imgDir,'PBMA.ico'), wx.BITMAP_TYPE_ICO)
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frame.SetIcon(icon)
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frame.Centre()
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fh=app.GetTopWindow().fh
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wnd=app.GetTopWindow()
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loc={'app' :app,
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'fh' :fh,
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'pts' :fh['pts'],
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'rec' :fh['rec']
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}
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introText='''Shell to the HDF5 objects
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app: application object
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fh: numpy file
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pts: desired motion points
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rec: recorded data
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#Examples:
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pts
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rec
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#using user defined modules
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#import userSample as us;reload(us);us.test1(hid)
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'''
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shell=wx.py.shell.Shell(frame, introText=introText,locals=loc)
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frame.Show(True)
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#if loc is None, all variables are visible. the context is global
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#shell.push('wnd=app.GetTopWindow()')
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#for cmd in [
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# 'wnd=app.GetTopWindow();wxTree=wnd.wxTree',
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# 'wxNode=wnd.wxTree.GetSelection()',
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# 'print wnd.fid',
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# 'lbl=wxTree.GetItemText(wxNode)',
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# 'hid=wxTree.GetPyData(wxNode)']:
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# shell.run(cmd, prompt=False)
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if __name__ == '__main__':
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def GetArgs():
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import sys,argparse #since python 2.7
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exampleCmd='/tmp/shapepath.npz'
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parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,
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description=__doc__,
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epilog='Example:\n'+os.path.basename(sys.argv[0])+' '+exampleCmd+'\n ')
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parser.add_argument('npzFile', nargs='?', help='the npz file with motion path data to show',default='/tmp/shapepath.npz')
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args = parser.parse_args()
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return args
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class MyApp(wx.App):
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def OnInit(self):
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args=GetArgs()
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frame = MAMainFrame(None, 'PBMotionAnalyzer')
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if args.npzFile:
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frame.OpenFile(args.npzFile)
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frame.Show(True)
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self.SetTopWindow(frame)
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return True
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#------------------ Main Code ----------------------------------
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#redirect stdout/stderr:
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#http://www.blog.pythonlibrary.org/2009/01/01/wxpython-redirecting-stdout-stderr/
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#https://groups.google.com/forum/#!topic/wxpython-users/S9uSKIYdYoo
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#https://17677433047266577941.googlegroups.com/attach/e4d343dc6a751906/REDIRECT.PY?part=2&view=1&vt=ANaJVrFeyCjCMydKnkyfFbYJM7ip07mE-ozUIBxJ5A1QuK1GhycJYJsPTxpAaNk5L2LpXvGhzRPInxDt8_WUcUyK2Ois28Dq8LNebfYoWG9Yxr-tujf5Jk4
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#http://www.wxpython.org/docs/api/wx.PyOnDemandOutputWindow-class.html
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rd=not sys.stdout.isatty()#have a redirect window, if there is no console
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#rd=True #force to open a redirect window
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rd=False #avoid a redirect window
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app = MyApp(redirect=rd)
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app.MainLoop()
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BIN
python/images/PBMA.ico
Normal file
BIN
python/images/PBMA.ico
Normal file
Binary file not shown.
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After Width: | Height: | Size: 2.2 KiB |
BIN
python/images/PBMA.png
Normal file
BIN
python/images/PBMA.png
Normal file
Binary file not shown.
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After Width: | Height: | Size: 3.4 KiB |
@@ -200,9 +200,11 @@ class ShapePath:
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self.ax=ax
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self.hl=hl
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def plot_gather(self,fnLoc='/tmp/gather.txt'):
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def plot_gather(self,fnLoc='/tmp/gather.txt',fnOut='/tmp/shapepath.npz'):
|
||||
pts=self.points
|
||||
rec = np.genfromtxt(fnLoc, delimiter=' ')
|
||||
if fnOut:
|
||||
np.savez_compressed(fnOut, rec=rec, pts=pts)
|
||||
fig=plt.figure()
|
||||
ax = fig.add_subplot(1,1,1)
|
||||
#hl=ax[0].plot(x, y, color=col)
|
||||
Reference in New Issue
Block a user