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

python/shapepath.py

@@ -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

src/triggerSync/Readme.md

@@ -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]"'
 
+->
 
-
+> list prog2
-
+Coord[1].DesTimeBase=Sys.ServoPeriod
-
+linearabs
-
+X-1Y-1
-exec
+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)
+{
 
 ```