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SFELPHOTON-1650:shapepath.py: stop-and-go struggeled with sync for first 3 measurements

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zamofing_t
2025-04-04 17:25:47 +02:00
parent cef16196bb
commit 6e391c1f81
2 changed files with 134 additions and 7 deletions
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12
python/shapepath.py
View File

@@ -960,6 +960,9 @@ class ShapePath(MotionBase):
twait_=round((tmove+twait)/fel_per)*fel_per-tmove
if twait!=twait_:
_log.warning(f'adjust twait({twait}) to {twait_} to match multiple of fel-cycles')
# syncPlc:
# Sys.Udata[0] 0->1 'fast counter: counter up ech pluse from 0 to pt2tp_felpulse
# Sys.Udata[0] 0->1 'slow counter: increments by one after 'pt2tp_felpulse' pulses
syncPlc=f'''\
close all buffers
disable plc 2
@@ -981,6 +984,15 @@ enable plc 2
if comm: comm.gpascii.send_block(syncPlc, verb&0x08)
prg+=f'''\
//mode 5: grid pvt motion
//Sys.Udata[0] fast counter
//Sys.Udata[1] slow counter
//Sys.Udata[2] last slow counter value
while(Coord[1].DesTimeBase==0){{}}
Sys.Udata[0]=0 // resets fast counter
Sys.Udata[1]=0 // resets slow counter
Sys.Udata[2]=0
while(Sys.Udata[2]==Sys.Udata[1]){{}} //initial wait
Sys.Udata[2]=Sys.Udata[1] //save last slow counter value
pvt{tmove} abs
L1=0 //slow loop x
L0=0 //fast loop y

129
src/triggerSync/Readme.md
View File

@@ -212,16 +212,131 @@ open prog 3
X10Y10
Gather.Enable=0
close
```
## similar to stop and go motion
```
open prog 3
Coord[1].DesTimeBase=Sys.ServoPeriod
linearabs
X-1Y-1
dwell100
Coord[1].TimeBaseSlew=1
Coord[1].DesTimeBase=0
Coord[1].Q[0]=-3 // simulate motion ready
dwell100
Coord[1].Q[10]=1 // simulate acquisition start
dwell100
//Sys.Udata[0] fast counter
//Sys.Udata[1] slow counter
//Sys.Udata[2] last slow counter value
Sys.Udata[0]=0 // resets fast counter
Sys.Udata[1]=0 // resets slow counter
Sys.Udata[2]=0
while(Sys.Udata[2]==Sys.Udata[1]){} //initial wait
Sys.Udata[2]=Sys.Udata[1] //save last slow counter value
pvt10abs
L1=0
L0=0
while(L1<8){
X(0+L1*1):0Y(0+L0*1):0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
L0+=1
while(L0<6-1){
X(0+L1*1):0Y(0+L0*1):0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
L0+=1
}
if(L1>=8-1){
break
}
X(0+L1*1):0Y(0+L0*1):0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
L1+=1
X(0+L1*1):0Y(0+L0*1):0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
L0-=1
while(L0>=1)
{
X(0+L1*1):0Y(0+L0*1):0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
L0-=1
}
if(L1>=8-1){
break
}
X(0+L1*1):0Y(0+L0*1):0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
L1+=1
X(0+L1*1):0Y(0+L0*1):0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
L0+=1
}
X(0+L1*1):0Y(0+L0*1):0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
dwell100
Gather.Enable=0
close
// >=20 -> how many fel pulses to wait (orig was 2)
disable plc 2
open plc 2
Sys.Udata[0]=0
Sys.Udata[1]=0
while(1) {
while (Gate3[1].Chan[1].UserFlag==0){}
Sys.Udata[0]=Sys.Udata[0]+1
if (Sys.Udata[0]>=20) {
Sys.Udata[1]=Sys.Udata[1]+1
Sys.Udata[0]=0
}
while (Gate3[1].Chan[1].UserFlag==1){}
}
close
enable plc 2 // resets counter at some beginning
Sys.Udata[1]=0
Gather.Enable=1 // else triggerSync stops if value is 0
Coord[1].Q[0]=0 // simulate motion not ready (!=-3)
LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/triggerSync 11 10 0 # trigger all 10 ms, sim start real frame triggers, with sync, verbose
PBGatherPlot -r2 --ssh_tunnel -p 'exec:"&1b3r",disp:2,scl:{pos1:[1,0,0],pos2:[1,0,0],Chan0.UserFlag:[1,1],Chan1.UserFlag:[2,1],DesTimeBase:[100,0]},time:10,acq_per:1,motId:[1,2],address:"Sys.ServoCount,Gate3[1].Chan[0].UserFlag,Gate3[1].Chan[1].UserFlag,Motor[1].MoveTimer,Coord[1].DesTimeBase,Motor[{motId[0]}].ActPos,Motor[{motId[0]}].DesPos,Motor[{motId[1]}].ActPos,Motor[{motId[1]}].DesPos,Sys.Udata[0],Sys.Udata[1]"'
>>>>>>>>> SwissMx code does not work: <<<<<<<<<<<<<<<<<
Gather.Enable=1 // else triggerSync stops if value is 0
root@:/opt/ppmac# LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/triggerSync 9 10 0 # trigger all 10 ms, sim start real frame triggers, with sync, verbose
zamofing_t@ganymede:~$ PBGatherPlot -r2 --ssh_tunnel -p 'exec:"&1b2r",disp:2,scl:{pos1:[1,0,0],pos2:[1,0,0],Chan0.UserFlag:[1,1],Chan1.UserFlag:[2,1],DesTimeBase:[100,0]},time:10,acq_per:1,motId:[1,2],address:"Sys.ServoCount,Gate3[1].Chan[0].UserFl
ag,Gate3[1].Chan[1].UserFlag,Motor[1].MoveTimer,Coord[1].DesTimeBase,Motor[{motId[0]}].ActPos,Motor[{motId[0]}].DesPos,Motor
[{motId[1]}].ActPos,Motor[{motId[1]}].DesPos,Sys.Udata[0],Sys.Udata[1]"'
->
exec
> list prog2
Coord[1].DesTimeBase=Sys.ServoPeriod
linearabs
X-1Y-1
dwell10
Coord[1].TimeBaseSlew=1
Coord[1].DesTimeBase=0
Coord[1].Q[0]=-3
while(Coord[1].DesTimeBase==0){}
Sys.Udata[0]=0
Sys.Udata[1]=0
Sys.Udata[2]=0
while(Sys.Udata[2]==Sys.Udata[1]){}
Sys.Udata[2]=Sys.Udata[1]
pvt10abs
L1=0
L0=0
while(L1<8)
{
```