massive move and cleanup

python/FKIKfaststage.m

@@ -1,142 +0,0 @@
-% FK/IK using homogenous matrices %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%
-% This script demonstrates how homogenous matrices can be used to create
-% both a forward kinematics (FK)and an inverse kinematics (IK) model of 
-% a serial kinematics manipulator, with 5 % motors (q1,q2,q3,q4,q5) 
-% and 4 user coordinates (X,Y,Z,theta).
-%
-% The script uses a chain of Homogenous Transformation Matrices to create 
-% the FK model. And the Moore-Penrose Pseudo-Inverse of the Jacobian 
-% to iteratively solve the IK model (Newton-Raphson).
-%
-% 5.10.2017 Wayne Glettig
-  
-clear all;
-syms offsetX offsetY offsetZ ...
-     alpha beta gamma...
-     q1 q2 q3 q4 q5;
-
-%% Here the Transformation Matrix HBA is constructed from a translation 
-% matrix and 3 rotation matrices, using symbolic variables.
-%Translation:
-HXYZ = [1,0,0,offsetX;...
-        0,1,0,offsetY;...
-        0,0,1,offsetZ;...
-        0,0,0,1];
-%Rot around X:
-HRX = [1,0        ,0           ,0;...
-       0,cos(alpha),-sin(alpha),0;...
-       0,sin(alpha), cos(alpha),0;...
-       0,0        ,0           ,1];
-%Rot around Y:
-HRY = [ cos(beta),0,sin(beta),0;...
-       0         ,1,0        ,0;...
-       -sin(beta),0,cos(beta),0;...
-       0         ,0,0        ,1];
-%Rot around Z:
-HRZ = [cos(gamma),-sin(gamma),0,0;...
-       sin(gamma), cos(gamma),0,0;...
-       0         ,0          ,1,0;...
-       0         ,0          ,0,1];
-%Create HBA (first rotation then translation)
-HBA=HXYZ*HRZ*HRY*HRX;
-%Create HAB (inverse)
-HAB=inv(HBA);
-
-
-%% Here the Kinematic Chain is created (q1,q2,q3,q4,q5 are motor coordinates)
-%Essentially the HBA matrix above is filled with the offsetXYZ and angle
-%values to assemble the chain. The chain consists here of the reference
-%frames 0-1-2-3-4-5-6-7:
-%Frame 0: MATLAB darstellungsframe (for plot3)
-%Frame 1: Beamline UCS
-%Frame 2: on Z Stage
-%Frame 3: on X Stage
-%Frame 4: on RX Stage
-%Frame 5: on Fast X Stage
-%Frame 6: on Fast Y Stage
-%Frame 7: Sample pos
-
-H10 = subs(HBA,[offsetX,offsetY,offsetZ,alpha,beta,gamma],...
-               [0,0,0,90/180*pi,0/180*pi,90/180*pi]);
-H21 = subs(HBA,[offsetX,offsetY,offsetZ,alpha,beta,gamma],...
-               [0,0,q1,0,0,0]); %Z Stage
-H32 = subs(HBA,[offsetX,offsetY,offsetZ,alpha,beta,gamma],...
-               [q2,0,0,0,0,0]); %X Stage
-H43 = subs(HBA,[offsetX,offsetY,offsetZ,alpha,beta,gamma],...
-               [0,0,0,0,q3/180*pi,0]); %Rotation RY
-H54 = subs(HBA,[offsetX,offsetY,offsetZ,alpha,beta,gamma],...
-               [q4,0,0,0,0,0]); %Fast Stage X
-H65 = subs(HBA,[offsetX,offsetY,offsetZ,alpha,beta,gamma],...
-               [0,q5,0,0,0,0]); %Fast Stage Y
-H76 = subs(HBA,[offsetX,offsetY,offsetZ,alpha,beta,gamma],...
-               [0,0,0,0,0,0]); %sample Offset
-H70 = H10*H21*H32*H43*H54*H65*H76;
-H07 = inv(H70);
-
-%% The FK model (forward kinematics) can be defined as 
-% [X;Y;Z;theta] = f(q1,q2,q3,q4,q5)
-H71 = H21*H32*H43*H54*H65*H76; %UCS: reference frame 1
-f= H71*[0;0;0;1]; %XYZ position of orgin of reference frame 7
-f(4)=q3;          %theta angle directly connected to q3
-
-%% The IK model is more difficult to find. Different IK solution methods 
-% exist, this is one of the basic ones, using the Pseudo-inverse of the
-% Jacobian matrix to converge a solution towards a solution
-% (Newton-Raphson)
-
-% Jacobian of FK f function derived over motor coordinates
-J= jacobian(f,[q1,q2,q3,q4,q5]);
-Jinv = pinv(J);
-
-tic
-% Algorithm for IK (q are motor coords, x are user coords)
-xt=[2;1;0;32]; %SET TARGET USER COORDS 
-q0=[0;0;0;0;0]; %motor start values
-qc = q0; %set current q values for loop
-loopcond = 1;
-loopcounter=0;
-while loopcond
-    xc = vpa(subs(f, [q1,q2,q3,q4,q5], qc')); %get current x values based on q 
-    deltax=xt-xc; %get x error (target - current)
-    if abs(deltax)<1e-9 %if abs error small enough, get out of loop
-        loopcond=0;
-    end
-    Jinvc=vpa(subs(Jinv, [q1,q2,q3,q4,q5], qc')); %inv Jacobian with current q
-    deltaq=Jinvc*deltax; %By multiplying the x error with Jinv, a q correction can be deduced
-    qc = qc+deltaq;%update current motor values
-    loopcounter=loopcounter+1;
-end
-q = qc %output q as the motor coordinates
-toc
-
-%% Plot the results (construct sample position using motors)
-Oin1 = [0;0;0;1];
-e1in1 = [1;0;0;1];
-e2in1 = [0;1;0;1];
-e3in1 = [0;0;1;1];
-
-clf;
-hold on;
-grid on;
-axis vis3d;
-axis([-10 10 -10 10 -10 10]);
-title('Sample Position, constructed with (q1,q2,q3,q4,q5)');
-xlabel('Beamline Z-Axis');
-ylabel('Beamline X-Axis');
-zlabel('Beamline Y-Axis');
-
-
-for i= 0:1
-H60c = subs(H70, [q1 q2 q3, q4, q5], q');
-
-Oin0  = H60c*Oin1;
-e1in0 = H60c*e1in1;
-e2in0 = H60c*e2in1;
-e3in0 = H60c*e3in1;
-
-plot3([Oin0(1),e1in0(1)],[Oin0(2),e1in0(2)],[Oin0(3),e1in0(3)],'r-');
-plot3([Oin0(1),e2in0(1)],[Oin0(2),e2in0(2)],[Oin0(3),e2in0(3)],'g-');
-plot3([Oin0(1),e3in0(1)],[Oin0(2),e3in0(2)],[Oin0(3),e3in0(3)],'b-');
-plot3([-10,0],[0,0],[0,0],'r-')
-end   

python/MXTuning.py

@@ -208,9 +208,10 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
     args=parser.parse_args()
 
     #plt.ion()
-    comm = PPComm(host=args.host)
-    gt = Gather(comm)
-    tune=MXTuning(comm,gt)
+    #comm = PPComm(host=args.host)
+    #gt = Gather(comm)
+    #tune=MXTuning(comm,gt)
+    tune = MXTuning(None,None)
     base='MXTuning'
     if args.dir is not None:
       base=args.dir
@@ -258,7 +259,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
         for ext,amp,minFrq,maxFrq,tSec in (('a',100,  1, 200,15),
                                            ('b', 20,10, 300,5),
                                            ('c',  5,10, 300,5),
-                                           ('d',  1,10, 600,5),
+                                           ('d',  1,10,1000,5),
                                            ):
           f=fcrp+ext+'.npz'
           if not os.path.isfile(f): tune.init_stage();plt.close('all')

python/PBMotionAnalyzer/wxutils.py

@@ -20,7 +20,7 @@ class Path():
       path=symPath
     path=os.path.abspath(path)
     path=os.path.dirname(path)
-    return os.path.join(path,'images')
+    return path
 
 class StopWatch():
   @classmethod

python/coordTrfTest.py

@@ -1,366 +0,0 @@
-#!/usr/bin/env python
-# *-----------------------------------------------------------------------*
-# |                                                                       |
-# |  Copyright (c) 2017 by Paul Scherrer Institute (http://www.psi.ch)    |
-# |                                                                       |
-# |              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
-# *-----------------------------------------------------------------------*
-'''
-tools to check kinematics
-'''
-import os, sys, json
-import numpy as np
-import matplotlib as mpl
-import matplotlib.pyplot as plt
-import mpl_toolkits.mplot3d as plt3d
-import matplotlib.animation as anim
-from matplotlib.widgets import Slider
-import subprocess as sprc
-from utilities import *
-import telnetlib
-
-class GpasciiCommunicator():
-  '''Communicates with the Delta Tau gpascii programm
-  '''
-  gpascii_ack="\x06\r\n"
-  gpascii_inp='Input\r\n'
-
-  def connect(self, host, username='root', password='deltatau',prompt='ppmac# ',verbose=0):
-    p=telnetlib.Telnet(host)
-    s=p.read_until('login: ')
-    if verbose: print(s)
-    p.write(username+'\n')
-    s =p.read_until('Password: ')
-    if verbose: print(s)
-    p.write(password+'\n')
-    s =p.read_until(prompt)  # command prompt
-    if verbose: print(s)
-    p.write('gpascii -2\n')  # execute gpascii command
-    s=p.read_until(self.gpascii_inp)
-    if verbose: print(s)
-    return p
-
-
-class CoordTrf:
-  def __init__(self,**kwargs):
-    for k,v in kwargs.iteritems():
-      setattr(self,k,v)
-    pass
-
-  def show_vel(self):
-    rec=self.rec
-    fig = plt.figure()
-    #y = np.diff(rec[:, 2])
-    y = np.diff(rec,axis=0)
-    mx=y.max(0)
-    mn=y.min(0)
-    scl=np.maximum(mx,-mn)
-    scl=np.where(scl==0, 1, scl) # replace 0 by 1
-    y/=scl
-    x = np.arange(0, y.shape[0]);
-    x= x.reshape(-1,1).dot(np.ones((1,y.shape[1])))
-    lbl=('cx','cz','w','fy')
-    #plt.plot(x, y,label=lbl)
-    for i in range(y.shape[1]):
-      plt.plot(x[:,i], y[:,i],label=lbl[i])
-
-    plt.legend()
-
-  def show_pos(self):
-    rec=self.rec
-    y = rec
-    #plt.ion()
-    fig = plt.figure(figsize=(20,6))
-    c='bg'
-    lbl=('q1','q2')
-    dx=.1/len(lbl)
-    for i in range(rec.shape[1]):
-      if i==0:
-        ax = fig.add_axes([.1, .05, .85, .90])
-        axl =[ax,]
-      else:
-        ax = fig.add_axes(axl[0].get_position(), sharex=ax)
-        ax.spines['top'].set_visible(False)
-        ax.spines['bottom'].set_visible(False)
-        ax.xaxis.set_visible(False)
-        ax.patch.set_visible(False)
-        ax.spines['left'].set_position(('axes', -dx*i))
-        axl.append(ax)
-      ax.set_ylabel(lbl[i], color=c[i])
-      ax.tick_params(axis='y', colors=c[i])
-
-    x = np.arange(0, y.shape[0]);
-    h=[]
-    for i in range(rec.shape[1]):
-      h+=axl[i].plot(x, y[:,i],c[i],label=lbl[i])
-    plt.legend(handles=h)
-    cid = fig.canvas.mpl_connect('motion_notify_event', self.onmove)
-    fig.obj=self
-    fig.data=y
-
-
-  @staticmethod
-  def onmove(event):
-    #print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
-    #  event.button, event.x, event.y, event.xdata, event.ydata)
-    obj = event.canvas.figure.obj
-    data = event.canvas.figure.data
-    if(event.xdata):
-      idx=round(event.xdata)
-      msg='%d: q1:%.3f q2:%.3f'%((idx,)+tuple(data[idx,:]))
-      #print msg
-      event.canvas.toolbar.set_message(msg)
-
-  def download_code(self, prg, file=None, gather=False):
-    host=self.host
-    if self.verbose & 4:
-      for ln in prg:
-        print(ln)
-    if file is not None:
-      fh = open(file, 'w')
-      fh.write('\n'.join(prg))
-      fh.close()
-      if host is not None:
-        cmd = 'gpasciiCommander --host ' + host + ' ' + file
-        print(cmd)
-        p = sprc.Popen(cmd, shell=True)  # , stdout=sprc.PIPE, stderr=sprc.STDOUT)
-        # res=p.stdout.readlines();  print res
-        retval = p.wait()
-        # gather -u /var/ftp/gather/out.txt
-        if gather:
-          # ***wait program finished P1000=1***
-          com=GpasciiCommunicator().connect(host,prompt='# ')
-          ack=GpasciiCommunicator.gpascii_ack
-          sys.stdout.write('wait execution...');sys.stdout.flush()
-          while(True):
-            #Gather.MaxLines calculates maximum numbewr of gathering into memory
-            com.write('P1000\n')
-            val=com.read_until(ack)
-            #print val
-            val=int(val[val.find('=')+1:].rstrip(ack))
-            if val==1:break
-            #com.write('Gather.Index\n')
-            #val=com.read_until(ack)
-            #print val
-            time.sleep(.2)
-            sys.stdout.write('.');sys.stdout.flush()
-          fnRmt = '/var/ftp/gather/out.txt'
-          fnLoc = '/tmp/gather.txt'
-          print('\ngather data to %s...' % fnRmt)
-          p = sprc.Popen(('ssh', 'root@' + host, 'gather ', '-u', fnRmt), shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE,
-                         stderr=sprc.PIPE)
-          res = p.wait()
-          if res:
-            print('ssh failed. ssh root@%s to open a session' % host)
-            return
-
-          print('transfer data to %s...' % fnLoc)
-          p = sprc.Popen(('scp', 'root@' + host + ':' + fnRmt, fnLoc), shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE,
-                         stderr=sprc.PIPE)
-          res = p.wait()
-          self.rec = np.genfromtxt(fnLoc, delimiter=' ')
-          #plt.ion()
-          self.show_pos();self.show_vel()
-          plt.show()
-
-
-
-
-  def gen_code(self, mode):
-    prg=[]
-    file='/tmp/prg%d.cfg'%mode
-    gather=True
-    if mode==0:
-      gather=False
-      prg.append('''
-$$$***
-!common()
-!encoder_sim(enc=1,tbl=1,mot=1)
-!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0
-
-!encoder_sim(enc=2,tbl=2,mot=2)
-!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[2].pLimits=0;Motor[2].AmpFaultLevel=0;Motor[2].pAmpEnable=0;Motor[2].pAmpFault=0
-
-!encoder_sim(enc=3,tbl=3,mot=3)
-!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[3].pLimits=0;Motor[3].AmpFaultLevel=0;Motor[3].pAmpEnable=0;Motor[3].pAmpFault=0
-
-!encoder_sim(enc=4,tbl=4,mot=4)
-!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpFault=0
-
-!encoder_sim(enc=5,tbl=5,mot=5)
-!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0
-
-!encoder_sim(enc=6,tbl=6,mot=6)
-!motor(mot=6,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[6].pLimits=0;Motor[6].AmpFaultLevel=0;Motor[6].pAmpEnable=0;Motor[6].pAmpFault=0
-
-!encoder_sim(enc=7,tbl=7,mot=7)
-!motor(mot=7,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[7].pLimits=0;Motor[7].AmpFaultLevel=0;Motor[7].pAmpEnable=0;Motor[7].pAmpFault=0
-
-!encoder_sim(enc=8,tbl=8,mot=8)
-!motor(mot=8,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
-Motor[8].pLimits=0;Motor[8].AmpFaultLevel=0;Motor[8].pAmpEnable=0;Motor[8].pAmpFault=0
-
-Motor[3].JogSpeed=1000 //used for joging
-Motor[3].MaxSpeed=1000 //used for motion program
-#1..8j/
-''')
-    if mode==1:
-      gather=False
-      prg.append('''
-#1..2j=0
-
-Gather.Enable=0
-Gather.Items=2
-Gather.MaxSamples=1000000
-Gather.Period=10
-Gather.Addr[0]=Motor[1].ActPos.a
-Gather.Addr[1]=Motor[2].ActPos.a
-
-open prog 1
-  jog1=0
-  dwell100
-  P1000=0
-  nofrax
-  linearabs
-  Gather.Enable=2
-  Y2.0
-  dwell100
-  Y4.0
-  dwell100
-  Y6.0
-  dwell100
-  Y8.0
-  dwell100
-  Gather.Enable=0
-  P1000=1
-close
-
-open prog 2
-  jog1=0
-  dwell100
-  P1000=0
-  nofrax
-  Gather.Enable=2
-  pvt100abs
-  Y0:0
-  Y2:20
-  Y4:20
-  Y6:20
-  Y8:0
-  dwell100
-  Gather.Enable=0
-  P1000=1
-close
-''')
-    if mode==2:
-      gather=False
-      prg.append('''
-//motors CX CZ RY FY
-//        4  5  3  1
-&1
-a
-#1->0
-#2->0
-#3->0
-#4->0
-#5->0
-#6->0
-#7->0
-#8->0
-
-#1->Y
-open forward
-close
-open inverse
-close
-''')
-    if mode==3:
-      gather=False
-      prg.append('''
-// Set the motors as inverse kinematic axes in CS 1
-//motors CX CZ RY FY
-//        4  5  3  1
-&1
-a
-#1->0
-#2->0
-#3->0
-#4->0
-#5->0
-#6->0
-#7->0
-#8->0
-
-#1->I
-
-open forward
-  define(q1='L1')
-  define(Y='C7')
-  //coord Y
-  send 1"forward D0: %f \\n",D0
-  if(D0>0) callsub 100
-  D0=$00000080; //B=$2 X=$40 Y=$80 Z=$100 hex(2+int('40',16)+int('80',16)+int('100',16)) -> 0x1c2
-N100:
-  Y=q1
-  send 1"forward result %f\\n",Y
-  P1001+=1
-close
-
-open inverse
-  define(q1='L1', vq1='R1')
-  define(Y='C7',vY='C39')
-  //coord    Y
-  send 1"inverse D0:%f _Y:%f:%f\\n",D0,Y,vY
-  //D0 is set to $000001c2
-  define(q1='L1')
-  q1=Y
-  if(D0>0)
-  {
-    vq1=vY  // THIS LINE IS USED FOR PVT MOVE !!!
-    send 1"inverse result _q1:%f:%f\\n",q1,vq1
-  }
-  else
-  {
-    send 1"inverse result %f\\n",q1
-  }
-  P1002+=1
-close
-''')
-    self.download_code(prg, file, gather)
-
-  def test(self):
-    file='/tmp/prg.cfg'
-    #self.gen_code(0) #motor config
-    self.gen_code(1) #program code
-
-    self.gen_code(2) #simple coord trf
-    #self.download_code(['&1;b1r',], file, True)
-    self.download_code(['&1;b2r',], file, True)
-
-    self.gen_code(3) #fwd/inv kinematics
-    #prg.append('  Coord[1].AltFeedRate=0')  # allow maximum speed
-    #prg.append('  Coord[1].SegMoveTime=0')  # turn off segmented mode
-
-    #self.download_code(['&1;b1r',], file, True)
-    #self.download_code(['Coord[1].AltFeedRate=100','Coord[1].SegMoveTime=0','&1;b2r',], file, True)
-    self.download_code(['Coord[1].AltFeedRate=0','Coord[1].SegMoveTime=0','&1;b2r',], file, True)
-    #self.download_code(['Coord[1].AltFeedRate=1','Coord[1].SegMoveTime=.1','&1;b2r',], file, True)
-    #self.download_code(['Coord[1].AltFeedRate=0','Coord[1].SegMoveTime=.1','&1;b2r',], file, True)
-    #self.download_code(['&1;b3r',], file, True)
-
-
-# *** READ USER MANUAL P 455 ***
-# Inverse-Kinematic Program for PVT Mode, No Segmentation
-#
-
-if __name__=='__main__':
-  ct=CoordTrf(verbose=255,host='MOTTEST-CPPM-CRM0485')
-  ct.test()
-

python/imgAnalysis/imgStack.py

@@ -0,0 +1,551 @@
+#!/usr/bin/env python
+#*-----------------------------------------------------------------------*
+#|                                                                       |
+#|  Copyright (c) 2013 by Paul Scherrer Institute (http://www.psi.ch)    |
+#|                                                                       |
+#|              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
+#*-----------------------------------------------------------------------*
+'''
+implements an image view to show a colored image of a hdf5 dataset.
+'''
+
+if __name__ == '__main__':
+  #Used to guarantee to use at least Wx2.8
+  import wxversion
+  wxversion.ensureMinimal('2.8')
+import wx
+import matplotlib as mpl
+if __name__ == '__main__':
+  mpl.use('WXAgg')
+  #or mpl.use('WX')
+  #matplotlib.get_backend()
+
+import os
+import numpy as np
+from matplotlib.backends.backend_wxagg import FigureCanvasWxAgg as FigureCanvas
+from matplotlib.backends.backend_wxagg import NavigationToolbar2WxAgg as NavigationToolbar
+import pylab as plt #used for the colormaps
+
+
+class SliderGroup():
+  def __init__(self, parent, label, range=(0,100),val=0):
+    self.sliderLabel = wx.StaticText(parent, label=label)
+    self.sliderText = wx.TextCtrl(parent, -1, style=wx.TE_PROCESS_ENTER)
+    self.slider = wx.Slider(parent, -1)
+    self.slider.SetRange(range[0],range[1])
+    sizer = wx.BoxSizer(wx.HORIZONTAL)
+    sizer.Add(self.sliderLabel, 0, wx.EXPAND | wx.ALIGN_CENTER | wx.ALL, border=2)
+    sizer.Add(self.sliderText, 0, wx.EXPAND | wx.ALIGN_CENTER | wx.ALL, border=2)
+    sizer.Add(self.slider, 1, wx.EXPAND)
+    self.sizer = sizer
+    self.slider.Bind(wx.EVT_SLIDER, self.sliderHandler)
+    self.sliderText.Bind(wx.EVT_TEXT_ENTER, self.sliderTextHandler)
+    self.SetValue(val)
+
+  def SetValue(self, value):
+    self.value = value
+    self.slider.SetValue(value)
+    self.sliderText.SetValue(str(value))
+
+  def SetCallback(self,funcCB,usrData):
+    self.cbFuncData=(funcCB,usrData)
+
+  def Callback(self,value,msg):
+    try:
+      (funcCB,usrData)=self.cbFuncData
+    except BaseException as e:
+      pass
+    else:
+      funcCB(usrData,value,msg)
+
+  def sliderHandler(self, evt):
+    value = evt.GetInt()
+    self.sliderText.SetValue(str(value))
+    self.value=value
+    self.Callback(value,0)
+
+  def sliderTextHandler(self, evt):
+    value = int(self.sliderText.GetValue())
+    self.slider.SetValue(value)
+    value = self.slider.Value
+    self.sliderText.SetValue(str(value))
+    self.value=value
+    self.Callback(value,0)
+
+
+def AddToolbar(parent,sizer):
+  toolbar = NavigationToolbar(parent)
+  toolbar.Realize()
+  if wx.Platform == '__WXMAC__':
+    # Mac platform (OSX 10.3, MacPython) does not seem to cope with
+    # having a toolbar in a sizer. This work-around gets the buttons
+    # back, but at the expense of having the toolbar at the top
+    parent.SetToolBar(toolbar)
+  else:
+    # On Windows platform, default window size is incorrect, so set
+    # toolbar width to figure width.
+    tw, th = toolbar.GetSizeTuple()
+    fw, fh = parent.GetSizeTuple()
+    # By adding toolbar in sizer, we are able to put it at the bottom
+    # of the frame - so appearance is closer to GTK version.
+    # As noted above, doesn't work for Mac.
+    toolbar.SetSize(wx.Size(fw, th))
+    sizer.Add(toolbar, 0, wx.LEFT | wx.EXPAND)
+  # update the axes menu on the toolbar
+  toolbar.update()
+  return toolbar
+
+
+#class ShiftedLogNorm(mpl.colors.Normalize):
+class ShiftedLogNorm(mpl.colors.LogNorm):
+  #copied and modified from LogNorm
+    def __call__(self, value, clip=None):
+      #print value.shape,self.vmin,self.vmax,self.clip,clip
+      if clip is None:
+          clip = self.clip
+      ofs0=1-self.vmin
+      ofs1=1./(np.log(self.vmax+1-self.vmin))
+      result=np.log(value+ofs0)*ofs1
+      result = np.ma.masked_less_equal(result, 0, copy=False)
+      return result
+    def inverse(self, value):
+        if not self.scaled():
+            raise ValueError("Not invertible until scaled")
+        vmin, vmax = self.vmin, self.vmax
+        ofs0=1-vmin
+        if mpl.cbook.iterable(value):
+          val = np.ma.asarray(value)
+          return vmin * np.ma.power((vmax/vmin), val)-ofs0
+        else:
+          return vmin * pow((vmax/vmin), value)-ofs0
+    def autoscale_None(self, A):
+      if self.vmin is None:
+          self.vmin = np.ma.min(A)
+      if self.vmax is None:
+          self.vmax = np.ma.max(A)
+      pass
+    def autoscale(self, A):
+      pass
+
+class MPLCanvasImg(FigureCanvas):
+  def __init__(self,parent,SetStatusCB=None):
+    if SetStatusCB:
+      self.SetStatusCB=SetStatusCB
+    fig = mpl.figure.Figure()
+    ax = fig.add_axes([0.075,0.1,0.75,0.85])
+    FigureCanvas.__init__(self,parent, -1, fig)
+    self.mpl_connect('motion_notify_event', self.OnMotion)
+    self.mpl_connect('button_press_event',   self.OnBtnPress)
+    self.mpl_connect('button_release_event', self.OnBtnRelease)
+    self.mpl_connect('scroll_event', self.OnBtnScroll)
+    self.mpl_connect('key_press_event',self.OnKeyPress)
+    self.fig=fig
+    self.ax=ax
+
+  def InitChild(self,data):
+    if data.dtype==np.complex128:
+      self.dataRaw=data
+      #data=np.angle(data)
+      data=np.absolute(data)
+
+    fig=self.fig
+    ax=self.ax
+
+    msk=~np.isnan(data);msk=data[msk]
+    avg=np.average(msk); std=np.std(msk)
+    vmin=np.min(msk);vmax=np.max(msk)
+    vmin=max(vmin,avg-3*std);vmax=min(vmax,avg+3*std)
+    if vmin==0:vmin=1
+    if vmax<=vmin:
+      vmax=vmin+1
+
+    #norm=ShiftedLogNorm()
+    norm=mpl.colors.Normalize()
+    #img = ax.imshow(data,interpolation='nearest',cmap=mpl.cm.jet, norm=ShiftedLogNorm(vmin=vmin, vmax=vmax))
+
+    img = ax.imshow(data,interpolation='nearest',cmap=mpl.cm.jet, vmin=vmin, vmax=vmax)
+    colBar=fig.colorbar(img,orientation='vertical',norm=norm)
+    #colBar.norm=ShiftedLogNorm(vmin=vmin, vmax=vmax)
+    colBar.norm=mpl.colors.Normalize(vmin=vmin, vmax=vmax)
+    img.set_norm(colBar.norm)
+    img.cmap._init();bg=img.cmap._lut[0].copy();bg[:-1]/=4
+    ax.set_axis_bgcolor(bg)
+
+
+    self.colBar=colBar
+    self.colCycle = sorted([i for i in dir(plt.cm) if hasattr(getattr(plt.cm,i),'N')])
+    self.colIndex = self.colCycle.index(colBar.get_cmap().name)
+    self.img=img
+
+  def OnMotion(self,event):
+    #print event,event.x,event.y,event.inaxes,event.xdata,event.ydata
+    if event.inaxes==self.ax:
+      x=int(round(event.xdata))
+      y=int(round(event.ydata))
+      try:
+        v=self.img.get_array()[y,x]
+      except IndexError as e:
+        pass
+      else:
+        #print x,y,v
+        self.SetStatusCB(self.Parent,0,(x,y,v))
+    elif event.inaxes==self.colBar.ax:
+      colBar=self.colBar
+      pt=colBar.ax.bbox.get_points()[:,1]
+      nrm=colBar.norm
+      vmin,vmax,p0,p1,pS = (nrm.vmin,nrm.vmax,pt[0],pt[1],event.y)
+      if isinstance(colBar.norm,mpl.colors.LogNorm):#type(colBar.norm)==mpl.colors.LogNorm does not work...
+        vS=0
+      else:#scale around point
+        vS=vmin+(vmax-vmin)/(p1-p0)*(pS-p0)
+      self.SetStatusCB(self.Parent,1,vS)
+    try:
+      vmin,vmax,p0,p1,pS=self.colBarPressed
+    except AttributeError:
+      return
+      #if event.inaxes != self.cbar.ax: return
+    colBar=self.colBar
+    #print vmin,vmax,p0,p1,pS,type(colBar.norm)
+    #print 'x0=%f, xpress=%f, event.xdata=%f, dx=%f, x0+dx=%f'%(x0, xpress, event.xdata, dx, x0+dx)
+
+    if isinstance(colBar.norm,mpl.colors.LogNorm):#type(colBar.norm)==mpl.colors.LogNorm does not work...
+      if event.button==1:
+        #colBar.norm.vmin=.1
+        colBar.norm.vmax=vmax*np.exp((pS-event.y)/100)
+        #scale= np.exp((event.y-pS)/100)
+    elif event.button==1:#move top,bottom,both
+      pD = event.y - pS
+      vD=(vmax-vmin)/(p1-p0)*(pS-event.y)
+      colBar.norm.vmin = vmin+vD
+      colBar.norm.vmax = vmax+vD
+    elif event.button==3:#scale around point
+      scale= np.exp((pS-event.y)/100)
+      vS=vmin+(vmax-vmin)/(p1-p0)*(pS-p0)
+      #print scale,vS
+      colBar.norm.vmin = vS-scale*(vS-vmin)
+      colBar.norm.vmax = vS-scale*(vS-vmax)
+    self.img.set_norm(colBar.norm)#force image to redraw
+    colBar.patch.figure.canvas.draw()
+
+  def OnBtnPress(self, event):
+    """on button press we will see if the mouse is over us and store some data"""
+    #print dir(event.guiEvent)
+    if event.inaxes == self.colBar.ax:
+      #if event.guiEvent.LeftDClick()==True:
+      #    print dlg
+      pt=self.colBar.ax.bbox.get_points()[:,1]
+      nrm=self.colBar.norm
+      self.colBarPressed = (nrm.vmin,nrm.vmax,pt[0],pt[1],event.y)
+      #self.colBarPressed = event.x, event.y
+      #print self.colBarPressed
+      #self.OnMouse(event)
+    pass
+
+  def OnBtnRelease(self, event):
+    """on release we reset the press data"""
+    #self.OnMouse(event)
+    try: del self.colBarPressed
+    except AttributeError: pass
+
+  def OnBtnScroll(self, event):
+    #self.OnMouse(event)
+    colBar=self.colBar
+    if event.inaxes==colBar.ax:
+      pt=colBar.ax.bbox.get_points()[:,1]
+      nrm=colBar.norm
+      vmin,vmax,p0,p1,pS = (nrm.vmin,nrm.vmax,pt[0],pt[1],event.y)
+      if isinstance(colBar.norm,mpl.colors.LogNorm):#type(colBar.norm)==mpl.colors.LogNorm does not work...
+        scale= np.exp((-event.step)/10)
+        colBar.norm.vmax=vmax*scale
+      else:#scale around point
+        scale= np.exp((-event.step)/10)
+        vS=vmin+(vmax-vmin)/(p1-p0)*(pS-p0)
+        #print scale,vS
+        colBar.norm.vmin = vS-scale*(vS-vmin)
+        colBar.norm.vmax = vS-scale*(vS-vmax)
+      self.img.set_norm(colBar.norm)#force image to redraw
+      colBar.patch.figure.canvas.draw()
+
+  def OnKeyPress(self, event):
+    colCycle=self.colCycle
+    colBar=self.colBar
+    if event.key=='down':
+      self.colIndex += 1
+    elif event.key=='up':
+      self.colIndex -= 1
+    self.colIndex%=len(colCycle)
+    cmap = colCycle[self.colIndex]
+    colBar.set_cmap(cmap)
+    colBar.draw_all()
+    self.img.set_cmap(cmap)
+    self.img.get_axes().set_title(cmap)
+    colBar.patch.figure.canvas.draw()
+
+  def OnMouse(self, event):
+    for k in dir(event):
+      if k[0]!='_':
+        print k,getattr(event,k)
+
+
+class DlgColBarSetup(wx.Dialog):
+  def __init__(self,parent):
+    wx.Dialog.__init__(self,parent,-1,'Colormap Setup')
+    colBar=parent.canvas.colBar
+    cmap=colBar.cmap
+    nrm=colBar.norm
+
+    txtVMin=wx.StaticText(self,-1,'vmin')
+    txtVMax=wx.StaticText(self,-1,'vmax')
+    txtColMap=wx.StaticText(self,-1,'colormap')
+    self.edVMin=edVMin=wx.TextCtrl(self,-1,'%g'%nrm.vmin,style=wx.TE_PROCESS_ENTER)
+    self.edVMax=edVMax=wx.TextCtrl(self,-1,'%g'%nrm.vmax,style=wx.TE_PROCESS_ENTER)
+
+    txtTxrFunc=wx.StaticText(self,-1,'function')
+    self.cbtxrFunc=cbtxrFunc=wx.ComboBox(self, -1, choices=('linear','logarithmic'), style=wx.CB_READONLY)
+    cbtxrFunc.SetSelection(0 if nrm.__class__==mpl.colors.Normalize else 1)
+
+    #colMapLst=('Accent', 'Blues', 'BrBG', 'BuGn', 'BuPu', 'Dark2', 'GnBu', 'Greens', 'Greys', 'OrRd', 'Oranges', 'PRGn', 'Paired',
+    #'Pastel1', 'Pastel2', 'PiYG', 'PuBu', 'PuBuGn', 'PuOr', 'PuRd', 'Purples', 'RdBu', 'RdGy', 'RdPu', 'RdYlBu', 'RdYlGn', 'Reds',
+    #'Set1', 'Set2', 'Set3', 'Spectral', 'YlGn', 'YlGnBu', 'YlOrBr', 'YlOrRd', 'afmhot', 'autumn', 'binary', 'bone', 'brg', 'bwr',
+    #'cool', 'coolwarm', 'copper', 'cubehelix', 'flag', 'gist_earth', 'gist_gray', 'gist_heat', 'gist_ncar', 'gist_rainbow', 'gist_stern',
+    #'gist_yarg', 'gnuplot', 'gnuplot2', 'gray', 'hot', 'hsv', 'jet', 'ocean', 'pink', 'prism', 'rainbow', 'seismic', 'spectral',
+    #'spring', 'summer', 'terrain', 'winter')
+
+    colMapLst=('hot','spectral','jet','gray','RdYlBu','hsv','gist_stern','gist_ncar','BrBG','RdYlBu','brg','gnuplot2',
+               'prism','rainbow',)
+
+    self.cbColMap=cbColMap=wx.ComboBox(self, -1, choices=colMapLst, style=wx.CB_READONLY)
+    cbColMap.Value=cmap.name
+
+    sizer=wx.BoxSizer(wx.VERTICAL)
+    fgs=wx.FlexGridSizer(4,2,5,5)
+    fgs.Add(txtVMin,0,wx.ALIGN_RIGHT)
+    fgs.Add(edVMin,0,wx.EXPAND)
+    fgs.Add(txtVMax,0,wx.ALIGN_RIGHT)
+    fgs.Add(edVMax,0,wx.EXPAND)
+    fgs.Add(txtTxrFunc,0,wx.ALIGN_RIGHT)
+    fgs.Add(cbtxrFunc,0,wx.EXPAND)
+    fgs.Add(txtColMap,0,wx.ALIGN_RIGHT)
+    fgs.Add(cbColMap,0,wx.EXPAND)
+    sizer.Add(fgs,0,wx.EXPAND|wx.ALL,5)
+
+    edVMin.SetFocus()
+
+    btns =  self.CreateButtonSizer(wx.OK|wx.CANCEL)
+    btnApply=wx.Button(self, -1, 'Apply')
+    btns.Add(btnApply, 0, wx.ALL, 5)
+    sizer.Add(btns,0,wx.EXPAND|wx.ALL,5)
+    self.Bind(wx.EVT_BUTTON, self.OnModify, id=wx.ID_OK)
+    self.Bind(wx.EVT_BUTTON, self.OnModify, btnApply)
+    #self.Bind(wx.EVT_TEXT_ENTER, self.OnModify, edVMin)
+    #self.Bind(wx.EVT_TEXT_ENTER, self.OnModify, edVMax)
+    self.Bind(wx.EVT_TEXT, self.OnModify, edVMin)
+    self.Bind(wx.EVT_TEXT, self.OnModify, edVMax)
+    self.Bind(wx.EVT_COMBOBOX, self.OnModify, cbtxrFunc)
+    self.Bind(wx.EVT_COMBOBOX, self.OnModify, cbColMap)
+
+    self.SetSizer(sizer)
+    sizer.Fit(self)
+
+  def OnModify(self, event):
+    #print 'OnModify'
+    parent=self.GetParent()
+    canvas=parent.canvas
+    colBar=canvas.colBar
+    cmap=colBar.cmap
+    nrm=colBar.norm
+    img=canvas.img
+    ax=img.get_axes()
+    data=img.get_array()
+
+    v=self.cbColMap.Value
+    if v!=cmap.name:
+      cmap=getattr(mpl.cm,v)
+      colBar.set_cmap(cmap)
+      colBar.draw_all()
+      img.set_cmap(cmap)
+      ax.set_title(cmap.name)
+      colBar.patch.figure.canvas.draw()
+
+    vmin,vmax=(float(self.edVMin.Value),float(self.edVMax.Value))
+    nrm.vmin=vmin; nrm.vmax=vmax
+    v=self.cbtxrFunc.GetCurrentSelection()
+    func=(mpl.colors.Normalize,ShiftedLogNorm)
+    if nrm.__class__!=func[v]:
+      if v==0: #linear mapping
+        colBar.norm = mpl.colors.Normalize(vmin, vmax)
+      elif v==1: #log mapping
+        img.cmap._init();bg=img.cmap._lut[0].copy();bg[:-1]/=4
+        ax.set_axis_bgcolor(bg)
+        vmin=1
+        colBar.norm = mpl.colors.LogNorm(vmin,vmax)
+    img.set_norm(colBar.norm)
+    colBar.patch.figure.canvas.draw()
+    parent.Refresh(False)
+    if event.GetId()==wx.ID_OK:
+      event.Skip()#do not consume (use event to close the window and sent return code)
+
+class HdfImageFrame(wx.Frame):
+  def __init__(self, parent,lbl,ims):
+    wx.Frame.__init__(self, parent, title=lbl, size=wx.Size(850, 650))
+
+    canvas =  MPLCanvasImg(self,self.SetStatusCB)
+
+    sizer = wx.BoxSizer(wx.VERTICAL)
+    sizer.Add(canvas, 1, wx.LEFT | wx.TOP | wx.GROW)
+    self.SetSizer(sizer)
+
+    toolbar=AddToolbar(canvas,sizer)
+
+    l=len(ims)
+    wxAxCtrl=SliderGroup(self, label='Axis:%d'%0,range=(0,l-1))
+    sizer.Add(wxAxCtrl.sizer, 0, wx.EXPAND | wx.ALIGN_CENTER | wx.ALL, border=5)
+    wxAxCtrl.SetCallback(HdfImageFrame.OnSetView,wxAxCtrl)
+
+    idx=wxAxCtrl.value
+    data=ims[idx]
+    canvas.InitChild(data)
+
+    #self.Fit()
+    self.Centre()
+
+    self.BuildMenu(data.dtype)
+    self.canvas=canvas
+    self.sizer=sizer
+    self.toolbar=toolbar
+    self.ims=ims
+    self.wxAxCtrl=wxAxCtrl
+
+  def BuildMenu(self,dtype):
+    mnBar = wx.MenuBar()
+
+    #-------- Edit Menu --------
+    mn = wx.Menu()
+    mnItem=mn.Append(wx.ID_ANY, 'Setup Colormap', 'Setup the color mapping ');self.Bind(wx.EVT_MENU, self.OnColmapSetup, mnItem)
+    mnItem=mn.Append(wx.ID_ANY, 'Invert X-Axis', kind=wx.ITEM_CHECK);self.Bind(wx.EVT_MENU, self.OnInvertAxis, mnItem)
+    self.mnIDxAxis=mnItem.GetId()
+    mnItem=mn.Append(wx.ID_ANY, 'Invert Y-Axis', kind=wx.ITEM_CHECK);self.Bind(wx.EVT_MENU, self.OnInvertAxis, mnItem)
+    mnItem=mn.Append(wx.ID_ANY, 'Tomo Normalize', 'Multiplies each pixel with a normalization factor. Assumes there exist an array exchange/data_white', kind=wx.ITEM_CHECK);self.Bind(wx.EVT_MENU, self.OnTomoNormalize, mnItem)
+    self.mnItemTomoNormalize=mnItem
+
+    if dtype==np.complex128:
+      mnItem=mn.Append(wx.ID_ANY, 'Complex: Phase', kind=wx.ITEM_CHECK);self.Bind(wx.EVT_MENU, self.OnSetComplexData, mnItem)
+
+
+    mnBar.Append(mn, '&Edit')
+    mn = wx.Menu()
+    mnItem=mn.Append(wx.ID_ANY, 'Help', 'How to use the image viewer');self.Bind(wx.EVT_MENU, self.OnHelp, mnItem)
+    mnBar.Append(mn, '&Help')
+
+    self.SetMenuBar(mnBar)
+    self.CreateStatusBar()
+
+  def SetIdxXY(self,x,y):
+    self.idxXY=(x,y)
+
+  @staticmethod
+  def SetStatusCB(obj,mode,v):
+    if mode==0:
+      obj.SetStatusText( "x= %d y=%d val=%g"%v,0)
+    elif mode==1:
+      obj.SetStatusText( "Colormap Value %d (drag to scale)"%v,0)
+    else:
+      raise KeyError('wrong mode')
+
+  @staticmethod
+  def OnSetView(usrData,value,msg):
+    'called when a slice is selected with the slider controls'
+    imgFrm=usrData.slider.Parent
+    #imgFrm.img.set_array(imgFrm.data[usrData.value,...])
+    idx=imgFrm.wxAxCtrl.value
+    data=imgFrm.ims[idx]
+    try:
+      tomoNorm=imgFrm.tomoNorm
+    except AttributeError:
+      imgFrm.canvas.img.set_array(data)
+    else:
+      data=data*tomoNorm
+      imgFrm.canvas.img.set_array(data)
+
+    imgFrm.canvas.draw()
+    pass
+
+
+  def OnTomoNormalize(self,event):
+    if event.IsChecked():
+      #try to find white image
+      #calculate average
+      #show white normalize factors
+      white=self.data.parent['data_white']
+      tomoNorm=white[1,:,:]
+      #tomoNorm=white[:,:,:].mean(axis=0)
+      #np.iinfo(tomoNorm.dtype).max
+      #tomoNorm=float(np.iinfo(tomoNorm.dtype).max/2)/tomoNorm
+      tomoNorm=tomoNorm.mean()/tomoNorm
+      #tomoNorm=tomoNorm/float(np.iinfo(tomoNorm.dtype).max)
+      data=self.canvas.img.get_array()
+      data*=tomoNorm
+      #data/=tomoNorm
+      self.tomoNorm=tomoNorm
+      self.canvas.img.set_array(data)
+    else:
+      tomoNorm=self.tomoNorm
+      data=self.canvas.img.get_array()
+      data/=tomoNorm
+      self.canvas.img.set_array(data)
+      del self.tomoNorm
+    self.canvas.draw()
+
+  def OnSetComplexData(self, event):
+    if event.IsChecked():
+      data=np.angle(self.canvas.dataRaw)
+    else:
+      data=np.absolute(self.canvas.dataRaw)
+    self.canvas.img.set_array(data)
+    self.canvas.draw()
+
+  def OnHelp(self,event):
+    msg='''to change the image selection:
+use the toolbar at the bottom to pan and zoom the image
+use the scrollbars at the bottom (if present) to select an other slice
+
+to change the colorscale:
+drag with left mouse button to move the colorbar up and down
+drag with right mouse button to zoom in/out the colorbar at a given point
+use mouse weel to zoom in/out the colorbar at a given point
+double click left mouse button to set maximum and minimun colorbar values
+use cursor up and down to use a different colormap'''
+    dlg = wx.MessageDialog(self, msg, 'Help', wx.OK|wx.ICON_INFORMATION)
+    dlg.ShowModal()
+    dlg.Destroy()
+
+  def OnColmapSetup(self,event):
+    dlg=DlgColBarSetup(self)
+    if dlg.ShowModal()==wx.ID_OK:
+      pass
+    dlg.Destroy()
+
+  def OnInvertAxis(self,event):
+    ax=self.canvas.ax
+    #event.Checked()
+    if self.mnIDxAxis==event.GetId():
+      ax.invert_xaxis()
+    else:
+      ax.invert_yaxis()
+    self.canvas.draw()
+    pass
+
+class ImgStackApp(wx.App):
+  def OnInit(self):
+    #parser=GetParser(False) # debug with exampleCmd
+    return True
+
+  def OnExit(self):
+    pass
+
+def Run(ims):
+  app=ImgStackApp()
+  frame=HdfImageFrame(None, 'Title', ims)
+  frame.Show()
+  app.SetTopWindow(frame)
+  app.MainLoop()

python/stage_rms_current.py

@@ -1,44 +0,0 @@
-#plot and calculate rms values of sine, six state trapezoidal etc.
-
-import numpy as np
-import matplotlib as mpl
-import matplotlib.pyplot as pyplot
-pyplot.figure()
-x=np.arange(360.)
-y=np.sin(x/360.*2.*np.pi)
-y1=x.copy()
-y1[0: 60]=x[0:60]/60
-y1[ 60:120]=1
-y1[120:180]=1-x[0:60]/60
-y1[180:240]=-x[0:60]/60
-y1[240:300]=-1
-y1[300:360]=-1+x[0:60]/60
-
-y2=x.copy()
-y2[0: 30]=0
-y2[30:150]=1
-y2[150:210]=0
-y2[210:330]=-1
-y2[330:360]=0
-
-y3=x.copy()
-y3[0: 60]=.5
-y3[60:120]=1
-y3[120:180]=.5
-y3[180:240]=-.5
-y3[240:300]=-1
-y3[300:360]=-.5
-
-pyplot.plot(x,y,x,y1,x,y2,x,y3);pyplot.show()
-
-rms=np.sqrt(np.mean(y**2))
-b=np.sqrt(2)/2
-rms1=np.sqrt(np.mean(y1**2))
-rms2=np.sqrt(np.mean(y2**2))
-rms3=np.sqrt(np.mean(y3**2))
-print rms,rms1,rms2,rms3,b
-
-print 0.8/rms, 0.8/rms1, 0.8/rms2, 0.8/rms3
-
-
-#https://e2e.ti.com/blogs_/b/motordrivecontrol/archive/2013/11/08/generate-your-own-commutation-table-trapezoidal-control-3-phase-bldc-motors-using-hall-sensors

python/utilities.py

@@ -1,91 +0,0 @@
-#!/usr/bin/env python
-#*-----------------------------------------------------------------------*
-#|                                                                       |
-#|  Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch)    |
-#|                                                                       |
-#|              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
-#*-----------------------------------------------------------------------*
-'''
-utilities classes
-'''
-import json
-import numpy as np
-import time,os
-
-
-class dotdict(dict):
-  """dot.notation access to dictionary attributes"""
-  def __init__(self,arg=None,**kwargs):
-    if arg!=None:
-      self.__fill__(arg)
-    self.__fill__(kwargs)
-
-  def __fill__(self,kw):
-      for k,v in kw.iteritems():
-        if type(v)==dict:
-          self[k]=dotdict(v)
-        else:
-          self[k]=v
-          if type(v)==list:
-            for i,w in enumerate(v):
-              if type(w)==dict:
-                v[i]=dotdict(w)
-            pass
-
-  def __dir__(self):
-    l=dir(object)
-    #l.extend(self.keys())
-    l.extend(map(str,self.keys()))
-    return l
-
-  def __getattr__(self, attr):
-      #return self.get(attr)
-      try:
-        return self[attr]
-      except KeyError as e:
-        raise AttributeError("%r instance has no attribute %r" % (self.__class__, attr))
-
-  def __repr__(self):
-    return '<' + dict.__repr__(self)[1:-1] + '>'
-
-  def PrettyPrint(self,indent=0):
-    for k,v in self.iteritems():
-      if type(v)==dotdict:
-        print ' '*indent,str(k)+':'
-        v.PrettyPrint(indent+2)
-      else:
-        print ' '*indent+str(k)+'\t'+str(v)
-
-  __setattr__= dict.__setitem__
-  __delattr__= dict.__delitem__
-  #__getattr__= dict.__getattr__
-
-
-def ConvUtf8(s):
-  'convert unicoded json object to ASCII encoded'
-  #http://stackoverflow.com/questions/956867/how-to-get-string-objects-instead-of-unicode-ones-from-json-in-python
-  if isinstance(s, dict):
-    return {ConvUtf8(key): ConvUtf8(value) for key, value in s.iteritems()}
-  elif isinstance(s, list):
-    return [ConvUtf8(element) for element in s]
-  elif isinstance(s, unicode):
-    return s.encode('utf-8')
-  else:
-    return s
-
-class GpasciiCommunicator():
-  '''Communicates with the Delta Tau gpascii programm
-  '''
-  gpascii_ack="\x06\r\n"
-  gpascii_inp='Input\r\n'
-
-  def connect(self, host, username='root', password='deltatau',prompt='ppmac# '):
-    p=telnetlib.Telnet(host)
-    print p.read_until('login: ')
-    p.write(username+'\n')
-    print p.read_until('Password: ')
-    p.write(password+'\n')
-    print p.read_until(prompt)  # command prompt
-    p.write('gpascii -2\n')  # execute gpascii command
-    print p.read_until(self.gpascii_inp)
-    return p