work on sync process

python/MXMotion.py

@@ -97,10 +97,10 @@ class MotionBase:
       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)
+      self.syncChan=sc=comm._client.exec_command(cmd)
       #ch=sc[1].channel
       #ch.settimeout(1)
-      #print ('starting '+cmd)
+      print ('starting '+cmd)
 
   def run(self):
     'runs the code sync_run which has been generated with setup_sync()'

python/shapepath.py

@@ -840,7 +840,7 @@ if __name__=='__main__':
     #sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0)
     #sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=1)
     sp.setup_gather(acq_per=1)
-    sp.setup_sync(mode=2) #sync with timing system and PLC to sync speed (PROG)
+    sp.setup_sync(mode=1) #sync with timing system and PLC to sync speed (PROG)
     sp.setup_coord_trf() # reset to shape path system
     sp.setup_motion(fnPrg=fn + '.prg', mode=3, pt2pt_time=40,scale=1,dwell=10)
     sp.run()

src/triggerSync/Makefile

@@ -1,5 +1,5 @@
-HOST=MOTTEST-CPPM-CRM0573
+#HOST=MOTTEST-CPPM-CRM0573
-
+HOST=SAR-CPPM-EXPMX1
 
 XENOMAI_INC_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include
 XENOMAI_LIB_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/lib

src/triggerSync/triggerSync.c

@@ -1,6 +1,32 @@
 // >>>>>>> https://www.ashwinnarayan.com/post/xenomai-realtime-programming-part-2/
 // >>>>>>> https://xenomai.org/documentation/xenomai-2.4/html/api/group__task.html
 
+
+//mode:
+// bit0: sync mode
+// bit1: simulate mode
+// bit2: verbose
+
+// 0: useless
+// 1: synchronize real triggers
+// 2: simulate triggers (no sync)
+// 3: synchronize simulate triggers
+
+//in simulate mode:
+//set pshm->Coord[1].Q[10]=1 to simulate a Jungfrau aquire start
+//set pshm->Coord[1].Q[10]=2 to stop simulate trigger generation
+//Coord[1].Q[11] is the simulated frame trigger
+
+//in synchronize mode
+//Coord[1].Q[0]=-2 : trigsync_func start, Wait for 'arm' trigger
+//Coord[1].Q[0]=-1 : got 'arm' trigger, wait frame trigger
+//Coord[1].Q[0]= 0 : got frame trigger 0
+//Coord[1].Q[0] is incremented at each trigger
+//sync task ends when Gather.Enable==0
+
+
+//Gather.Enable=1
+
 #include <stdio.h>
 #include <gplib.h>
 #include <math.h>
@@ -12,16 +38,15 @@
 
 
 extern struct SHM *pshm;
+static char mode=0;
+static float mtPt2Pt=40.f; //motion point to point time
 
 #define CLOCK_RES 1e-9 //Clock resolution is 1 ns by default
-#define LOOP_PERIOD 1e4 //Expressed in ticks
-//RTIME period = 10000000;
-
-//#define  FLAG0 (gate3_1->Chan[0].Status&0x8000000)
-//#define  FLAG1 (gate3_1->Chan[1].Status&0x8000000)
-#define  FLAG0 (pshm->P[0])
-#define  FLAG1 (pshm->P[1])
 
+#define  SIMFLAG0 (pshm->Coord[1].Q[10])
+#define  SIMFLAG1 (pshm->Coord[1].Q[11])
+#define  FLAG0 (gate3_1->Chan[0].Status&0x8000000)
+#define  FLAG1 (gate3_1->Chan[1].Status&0x8000000)
 
 RT_TASK trigsync_task;
 void trigsync_func(void *arg)
@@ -29,16 +54,17 @@ void trigsync_func(void *arg)
   RT_TASK *curtask;
   RT_TASK_INFO curtaskinfo;
   int iret = 0;
+  int loopPeriod=1e5;//Expressed in ticks
 
 
   curtask = rt_task_self();
   rt_task_inquire(curtask, &curtaskinfo);
 
   //Print the info
-  printf("Starting task %s with period of %f ms ....\n", curtaskinfo.name,LOOP_PERIOD/1000000.f);
+  printf("Starting task %s with period of %f ms ....\n", curtaskinfo.name,loopPeriod/1.E6);
 
   //Make the task periodic with a specified loop period
-  rt_task_set_periodic(NULL, TM_NOW, LOOP_PERIOD);
+  rt_task_set_periodic(NULL, TM_NOW, loopPeriod);
 
   int i;
   RTIME rtStart,rtLast,rtCur,rtDiff; //rt* is real time of the rt-process
@@ -52,35 +78,58 @@ void trigsync_func(void *arg)
   struct GateArray3* gate3_1=GetGate3MemPtr(1);
 
   pshm = GetSharedMemPtr();
+  pshm->Coord[1].Q[0]=-2;
   srvPer=pshm->ServoPeriod;
 
-  if(pshm->Gather.Enable==1)
-    pshm->Gather.Enable=2;  //start record at flag0' trigger
-  usleep(1000000); //wait 1 sec(record before motion)
   rtStart=rt_timer_read();
-  printf("Wait for 'arm' event:\n");
+  printf("Wait for 'arm' event...\n");
-  pshm->Coord[1].Q[0]=-10;
+  if(mode&2)
-  while(!FLAG0)
+  {
-    rt_task_wait_period(NULL);
+    while(!SIMFLAG0)
+      rt_task_wait_period(NULL);
+  }
+  else
+  {
+    while(!FLAG0)
+      rt_task_wait_period(NULL);
+  }
   printf("Flag 0: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
-
+  pshm->Coord[1].Q[0]=-1;
-  pshm->Coord[1].Q[0]=-9;
+  if(mode&2)
-  while(!FLAG1)
+  {
-    rt_task_wait_period(NULL);
+    while(!SIMFLAG1)
+      rt_task_wait_period(NULL);
+  }
+  else
+  {
+    while(!FLAG1)
+      rt_task_wait_period(NULL);
+  }
   printf("Flag 1: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
   rtStart=rtLast=rt_timer_read();
   scStart=scLast=pshm->ServoCount;
   mtAct=0.f;
-  pshm->Coord[1].Q[0]=1;
+  pshm->Coord[1].Q[0]=0;
   pshm->Coord[1].DesTimeBase=srvPer;  //start motion at default speed
 
   for(i=1;pshm->Gather.Enable;i++)
   {
-    while(FLAG1)
+    if(mode&2)
-      rt_task_wait_period(NULL);
+    {
+      while(SIMFLAG1)
+        rt_task_wait_period(NULL);
 
-    while(!FLAG1)
+      while(!SIMFLAG1)
-      rt_task_wait_period(NULL);
+        rt_task_wait_period(NULL);
+    }
+    else
+    {
+      while(FLAG1)
+        rt_task_wait_period(NULL);
+
+      while(!FLAG1)
+        rt_task_wait_period(NULL);
+    }
     //FEL shot arrived
     rtCur = rt_timer_read();
     scCur=pshm->ServoCount;
@@ -92,25 +141,11 @@ void trigsync_func(void *arg)
     srvPer=(mtPt2Pt+mtDes-mtAct)/scDiff;
     pshm->Coord[1].DesTimeBase=srvPer;
     pshm->Coord[1].Q[0]++;
-    printf("Trigger count: %d, rtDiff: %.3f ms scDiff %d mtAct %.3f mtDes %.3f srvPer %.3f\n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer);
+    if(mode&4)
+      printf("Trigger count: %d, rtDiff: %.3f ms scDiff %d mtAct %.3f mtDes %.3f srvPer %.3f\n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer);
     rtLast=rtCur;
     scLast=scCur;
   }
-
-  /*  float ang,pos;
-    int i;
-    float srvStart,srvCnt,diff,maxDiff,tmp;
-
-    srvStart=srvCnt=pshm->ServoCount;
-    for(maxDiff=0,i=0;i<10000000;i++)
-    {
-      tmp=pshm->ServoCount;
-      diff=tmp-srvCnt;
-      if(diff>maxDiff)
-        maxDiff=diff;
-      srvCnt=tmp;
-    }
-    printf("srvCnt %d diff %f maxDiff %f\n",(int)(srvCnt-srvStart),diff, maxDiff);*/
 }
 
 RT_TASK trigsim_task;
@@ -131,7 +166,7 @@ void trigsim_func(void *arg)
   RTIME rtStart,rtSlice;
   printf("sizeof RTTIME %d\n",sizeof(rtStart));
   pshm = GetSharedMemPtr();
-
+  pshm->Coord[1].Q[10]=0;
   rtStart=rt_timer_read();
 
   for(i=0,rtSlice=rtStart;;i++)
@@ -139,34 +174,28 @@ void trigsim_func(void *arg)
     //rtSlice=rtStart+i*40*1E6; // a slice is 40 ms
     rtSlice=rtStart+i*40.2*1E6; // a slice is 40 ms
     //rtSlice+=(rand()%(int)(1*1E6)); //0.1ms jitter
-
     rt_task_sleep_until(rtSlice); //in ns
-    pshm->P[1]=1;
+    pshm->Coord[1].Q[11]=1;
     //while(rt_timer_read()-rtStart<1E6*40*i)
     //  rt_task_wait_period(NULL);
     rt_task_sleep_until(rtSlice+5*1E6); //in ns
-    pshm->P[1]=0;
+    pshm->Coord[1].Q[11]=0;
 
-    //if(pshm->Coord[1].Q[0]==-10)
+    //if(pshm->Coord[1].DesTimeBase==0)
-    if(pshm->Coord[1].DesTimeBase==0)
+    if(pshm->Coord[1].Q[10]==1)
     {
       rt_task_sleep_until(rtSlice+10*1E6); //in ns
-      pshm->P[0]=1;
+      pshm->Coord[1].Q[11]=1;
       rt_task_sleep_until(rtSlice+20*1E6); //in ns
-      pshm->P[0]=0;
+      pshm->Coord[1].Q[11]=0;
+      pshm->Coord[1].Q[10]=0;
     }
-    if(pshm->Coord[1].Q[0]==-1)
+    if(pshm->Coord[1].Q[10]=2)
       break;
-    putchar('.');fflush(stdout);
+    if(mode&4)
+      putchar('.');fflush(stdout);
   }
-  if(pshm->Gather.Enable)
+  printf("trigsim_func done\n");
-  {
-    //pshm->Gather.Enable=0;
-  }
-  pshm->P[1]=1;
-  rt_task_sleep(1*1E6); //in ns
-  pshm->P[1]=0;
-  printf("trigsim_func done:\n");
 }
 
 
@@ -176,33 +205,38 @@ void trigsync_run()
 {
   const char* strSync="trigsync_task";
   const char* strSim="trigsim_task";
-  pshm->P[0]=0;
+  //mode:
-  pshm->P[1]=0;
+  // bit0: sync mode
-  pshm->Coord[1].Q[0]=0;
+  // bit1: simulate mode
-  //if(!pshm->Gather.Enable)
-  //  pshm->Gather.Enable=1;
 
   //Lock the memory to avoid memory swapping for this program
   mlockall(MCL_CURRENT | MCL_FUTURE);
   printf("Starting rt task...\n");
-  //Create the real time task
-  rt_task_create(&trigsync_task, strSync, 0, 50, T_JOINABLE);
-  //Since task starts in suspended mode, start task
-  rt_task_start(&trigsync_task, &trigsync_func, 0);
 
-  rt_task_create(&trigsim_task, strSim, 0, 50, T_JOINABLE);
+  if(mode&1)
-  rt_task_start(&trigsim_task, &trigsim_func, 0);
+  {
+    rt_task_create(&trigsync_task, strSync, 0, 50, T_JOINABLE); //Create the real time task
+    rt_task_start(&trigsync_task, &trigsync_func, 0);           //Since task starts in suspended mode, start task
+  }
 
+  if(mode&2)
+  {
+    rt_task_create(&trigsim_task, strSim, 0, 50, T_JOINABLE);
+    rt_task_start(&trigsim_task, &trigsim_func, 0);
+  }
   printf("Wait end of rt_task\n");
 
-  rt_task_join(&trigsync_task);
+  if(mode&1)
-  printf("trigsync_task done\n");
+  {
-  pshm->Coord[1].Q[0]=-1;
+    rt_task_join(&trigsync_task);
-
+    printf("trigsync_task done\n");
-  rt_task_join(&trigsim_task);
+  }
-  printf("trigsim_task done\n");
-
 
+  if(mode&2)
+  {
+    rt_task_join(&trigsim_task);
+    printf("trigsim_task done\n");
+  }
   printf("rt_task ended\n");
 
 }