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checking coordinate transform

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This commit is contained in:
zamofing_t
2018-04-05 08:44:37 +02:00
parent 99b45f47b6
commit 85414a7acf
9 changed files with 474 additions and 33 deletions
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183
Readme.md
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@@ -597,9 +597,15 @@ caput SAR-EXPMX3:ASYN.AOUT '&1;cpx jog1..5=10000;call 16'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15' caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15' caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 16' caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;jog1..5=10000;cpx call 16'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;cpx jog1..5=0;call 16'
caput SAR-EXPMX3:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX3:debug0 '&1;cpx jog1..5=10000;call 16'
@@ -609,4 +615,179 @@ caput SAR-EXPMX3:ASYN.AOUT cpx call 15
caput SAR-EXPMX3:ASYN.debug cpx call 16 caput SAR-EXPMX3:ASYN.debug cpx call 16
caput SAR-EXPMX3:ASYN.debug0 cpx call 16 caput SAR-EXPMX3:ASYN.debug0 cpx call 16
see also:
/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/SARES20-CSSU-ESB1_startup.script
/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/SARES20-CSSU-ESB1_hexpodPI.subs
/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/hpod.template
/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_boot_sf/SARES20-CSSU-ESB1/cfg/hpod.proto
caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynRecord.ui
caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynSerialPortSetup.ui
caQtDM -macro "P=SAR-EXPMX:,R=asyn" asynOctet.ui
caQtDM -macro "P=SAR-EXPMX:,R=debug0" asynOctet.ui
caput SAR-EXPMX:asyn.AOUT '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX:asyn.AOUT '&1;#1..5j/;cpx call 16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call 15'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call 16'
caput SAR-EXPMX:debug '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caget -S SAR-EXPMX:debug0
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(00)Y(0)U(0)V(0)W(0);call16'
caput SAR-EXPMX:debug0 '&1;#1..5j/;cpx call15;abslinear X(1000)Y(0)U(0)V(0)W(0);call16'
SAR-EXPMX:MOT_GIR_W.SPMG
Plugin: epics3 : loaded & connected
=====================================
Description: Stop
TimeStamp: Apr 04, 2018 11:57:02.623574449
Type: DBF_ENUM
Count: 1
Value: 0
nbStates: 4
States:
0 Stop
1 Pause
2 Move
3 Go
``` ```
Check some coord trf 4.4.18
---------------------------
```
$$$***
!common()
!SAR-EXPMX3() //with !MX3_setup_sim()
using trf:
!MX3_coordTrf(exc=5000,height=2000,width=500000,length=1000000,camSf=1.7453292519943296e-05)
open forward
// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
// define(r='L6',scl='L7')
// define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
// define(X='C6',Y='C7',U='C3',V='C4',W='C5')
L6=2000/500000
L7=5000/1.41421356237
L11=L7*sin(L1*1.74532925199e-05)
L12=L7*sin(L2*1.74532925199e-05)
L13=L7*sin(L3*1.74532925199e-05)
L14=L7*sin(L4*1.74532925199e-05)
L15=L7*sin(L5*1.74532925199e-05)
send 1"fwd_inp(%f) %f %f %f %f %f\n",D0,L1,L2,L3,L4,L5
send 1"fwd_inp(%f) %f %f %f %f %f\n",D0,L11,L12,L13,L14,L15
//C6=D^-1*S
C6=+.5*L11 -.5*L12 +(L6+.5)*L13 +(L6-.5)*L14 +(.5-L6)*1.41421356237*L15
C7=+.5*L11 +.5*L12 +.25*L13 +.25*L14 +.25*1.41421356237*L15
C3= -.5*L13 -.5*L14 +.5*1.41421356237*L15
C4=-.5*L11 +1.*L12 +1.5*L13 -.5*L14 -.5*1.41421356237*L15
C5=-.5*L11 -1.*L12 +.5*L13 +.5*L14 +.5*1.41421356237*L15
send 1"fwd_res %f %f %f %f %f\n",C6,C7,C3,C4,C5
D0=$000000f8; //C3=$8 C4=$10 C5=$20 C6=$40 C7=$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8'
close
open inverse
// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
// define(r='L6',scl='L7')
// define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
// define(X='C6',Y='C7',U='C3',V='C4',W='C5')
//if(D0>0)
// send 1"Velocity calculation NOT SUPPORTED\n"
send 1"inv_inp(%f) %f %f %f %f %f\n",D0,C6,C7,C3,C4,C5
L6=2000/500000
L11=+.5*C6 +.5*C7 +(0) *C3 -.5*C4 +.5*C5
L12=-.5*C6 +.5*C7 +(0) *C3 +.5*C4 +.5*C5
L13=+.5*C6 +.5*C7 -(.5) *C3 +.5*C4 -.5*C5
L14=-.5*C6 +.5*C7 -(.5) *C3 -.5*C4 -.5*C5
L15= .5*1.41421356237*C7 +.5*1.41421356237*C3 -.5*1.41421356237*C5
L7=1.41421356237/5000
L1=asin(L11*L7)/1.74532925199e-05
L2=asin(L12*L7)/1.74532925199e-05
L3=asin(L13*L7)/1.74532925199e-05
L4=asin(L14*L7)/1.74532925199e-05
L5=asin(L15*L7)/1.74532925199e-05
send 1"inv_res %f %f %f %f %f\n",L1,L2,L3,L4,L5
close
&1;cpx abs linear;jog1=0;jog2=0;jog3=0;jog4=0;jog5=0
&1;cpx abs linear;jog1=10000;jog2=20000;jog3=30000;jog4=40000;jog5=50000
&1;cpx abs linear;X(1365.89)Y(2879.23)U(-105.071)V(502.495)W(2419.1)
&1;cpx abs linear;X(-10.000000)Y(200.000000)U(3.00000)V(4.00000)W(5.00000)
&1;cpx abs linear;X(0.000000)Y(0.000000)U(0.00000)V(0.00000)W(0.00000)
&1;cpx abs linear;X(-10.000000)Y(200.000000)U(3.00000)V(4.00000)W(5.00000)
#1..5p
&1p
pmatch
fwd_inp(0) 0 0 0 0 0
fwd_inp(0) 0 0 0 0 0
fwd_res 0 0 0 0 0
inv_inp(0) 0 0 0 0 0
inv_res 0 0 0 0 0
fwd_inp(0) 10000 20000 30000 40000 50000
fwd_inp(0) 613.939 1209.22 1767.77 2272.6 2708.38
fwd_res 1365.89 2879.23 -105.071 502.495 2419.1
fwd_res 1365.89 2879.23 -105.071 502.495 2419.1
inv_inp(0) 1365.89 2879.23 -105.071 502.495 2419.1
inv_res 60621.7 38843.4 20130.6 -10620.2 4072.1
```

22
SAR-EXPMX3.subs
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@@ -13,19 +13,19 @@
#caget SAROP21-OAPU092:ASYN.TINP #caget SAROP21-OAPU092:ASYN.TINP
#caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)' #caput SAROP21-OAPU092:ASYN.AOUT '&1;cpx abs;X(-900)Y(10)A(5200)B(5100)'
file stream.template {{P="$(P_M)3", PORT=$(PORT_M)}} file stream.template {{P="$(P_M)",Q="MOT_GIR_",PORT=$(PORT_M)}}
file PPMACMotor.template { file PPMACMotor.template {
pattern pattern
{ DESC , P , M , PORT , ADDR, DIR, VELO, MRES , PREC, EGU } { DESC , P , M , PORT , ADDR, DIR, VELO, MRES , PREC, EGU }
{ "Girder 1", "$(P_M)", "MOT_GIR_1", "$(PORT_M)", 1 , 0 , 40 , -0.001, 3 , "deg" } { "Girder 1", "$(P_M)", "MOT_GIR_1", "$(PORT_M)", 1 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder 2", "$(P_M)", "MOT_GIR_2", "$(PORT_M)", 2 , 0 , 40 , -0.001, 3 , "deg" } { "Girder 2", "$(P_M)", "MOT_GIR_2", "$(PORT_M)", 2 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder 3", "$(P_M)", "MOT_GIR_3", "$(PORT_M)", 3 , 0 , 40 , -0.001, 3 , "deg" } { "Girder 3", "$(P_M)", "MOT_GIR_3", "$(PORT_M)", 3 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder 4", "$(P_M)", "MOT_GIR_4", "$(PORT_M)", 4 , 0 , 40 , -0.001, 3 , "deg" } { "Girder 4", "$(P_M)", "MOT_GIR_4", "$(PORT_M)", 4 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder 5", "$(P_M)", "MOT_GIR_5", "$(PORT_M)", 5 , 0 , 40 , -0.001, 3 , "deg" } { "Girder 5", "$(P_M)", "MOT_GIR_5", "$(PORT_M)", 5 , 0 , 40 , 0.001, 3 , "deg" }
{ "Girder X", "$(P_M)", "MOT_GIR_X", "$(PORT_M)", 9 , 0 , 40 , -0.001, 3 , "mm" } { "Girder X", "$(P_M)", "MOT_GIR_X", "$(PORT_M)", 9 , 0 , 40 , 0.001, 3 , "mm" }
{ "Girder Y", "$(P_M)", "MOT_GIR_Y", "$(PORT_M)", 10 , 0 , 40 , -0.001, 3 , "mm" } { "Girder Y", "$(P_M)", "MOT_GIR_Y", "$(PORT_M)", 10 , 0 , 40 , 0.001, 3 , "mm" }
{ "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11 , 0 , 40 , -0.001, 3 , "mm" } { "Girder U", "$(P_M)", "MOT_GIR_U", "$(PORT_M)", 11 , 0 , 40 , 0.001, 3 , "mrad" }
{ "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12 , 0 , 40 , -0.001, 3 , "mm" } { "Girder V", "$(P_M)", "MOT_GIR_V", "$(PORT_M)", 12 , 0 , 40 , 0.001, 3 , "mrad" }
{ "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13 , 0 , 40 , -0.001, 3 , "mm" } { "Girder W", "$(P_M)", "MOT_GIR_W", "$(PORT_M)", 13 , 0 , 40 , 0.001, 3 , "mrad" }
} }

104
TestTrf.py Executable file
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@@ -0,0 +1,104 @@
#!/usr/bin/env python
import os, sys, json
from numpy import sin
from numpy import arcsin as asin
import numpy as np
def forward(D0,L1,L2,L3,L4,L5):
#define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
#define(r='L6',scl='L7')
#define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
#define(X='C6',Y='C7',U='C3',V='C4',W='C5')
L6=2000./500000
L7=5000/1.41421356237
L11=L7*sin(L1*1.74532925199e-05)
L12=L7*sin(L2*1.74532925199e-05)
L13=L7*sin(L3*1.74532925199e-05)
L14=L7*sin(L4*1.74532925199e-05)
L15=L7*sin(L5*1.74532925199e-05)
print("fwd_inp(%f) %f %f %f %f %f"%(D0,L1,L2,L3,L4,L5))
print("fwd_inp(%f) %f %f %f %f %f"%(D0,L11,L12,L13,L14,L15))
#//C6=D^-1*S
C6=+.5*L11 -.5*L12 +(L6+.25)*L13 +(L6-.75)*L14 +(.25-L6)*1.41421356237*L15
C7=+.5*L11 +.5*L12 +.25*L13 +.25*L14 +.25*1.41421356237*L15
C3= +1.*L13 +1.*L14 -1.*1.41421356237*L15
C4=-1.*L11 +1.*L12 +1.5*L13 -.5*L14 -.5*1.41421356237*L15
C5=-1.*L11 -1.*L12 +.5*L13 +.5*L14 +.5*1.41421356237*L15
print("fwd_res %f %f %f %f %f"%(C6,C7,C3,C4,C5))
#Dinv=[[+.5, -.5, +(L6+.25), +(L6-.75), +(.25-L6)*1.41421356237],
# [+.5, +.5, +.25, +.25, +.25*1.41421356237],
# [ 0, 0, +1., +1., -1.*1.41421356237],
# [-1., +1., +1.5, -.5, -.5*1.41421356237],
# [-1., -1., +.5, +.5, +.5*1.41421356237]]
#Dinv=np.matrix(Dinv)
#print(Dinv)
#print(Dinv**-1)
#D0=$000000f8; //C3=$8 C4=$10 C5=$20 C6=$40 C7=$80 hex(8+int('10',16)+int('20',16)+int('40',16)+int('80',16)) -> '0xf8'
#close
return (D0,C6,C7,C3,C4,C5)
def inverse(D0,C6,C7,C3,C4,C5):
#// define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
#// define(r='L6',scl='L7')
#// define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
#// define(X='C6',Y='C7',U='C3',V='C4',W='C5')
#//if(D0>0)
#// send 1"Velocity calculation NOT SUPPORTED\n"
print("inv_inp(%f) %f %f %f %f %f"%(D0,C6,C7,C3,C4,C5))
L6=2000./500000
L11=+.5*C6 +.5*C7 +(.25-.5*L6)*C3 -.25*C4 -.25*C5
L12=-.5*C6 +.5*C7 +(.5*L6-.25)*C3 +.25*C4 -.25*C5
L13=+.5*C6 +.5*C7 +(.25-.5*L6)*C3 +.25*C4 +.25*C5
L14=-.5*C6 +.5*C7 +(.25+.5*L6)*C3 -.25*C4 +.25*C5
L15= .5*1.41421356237*C7 -.25*1.41421356237*C3 +.25*1.41421356237*C5
L7=1.41421356237/5000
L1=asin(L11*L7)/1.74532925199e-05
L2=asin(L12*L7)/1.74532925199e-05
L3=asin(L13*L7)/1.74532925199e-05
L4=asin(L14*L7)/1.74532925199e-05
L5=asin(L15*L7)/1.74532925199e-05
print("inv_res %f %f %f %f %f"%(L1,L2,L3,L4,L5))
#D=[[+.5, +.5, +(.25-.5*L6), -.25, -.25],
# [-.5, +.5, +(.5*L6-.25), +.25, -.25],
# [+.5, +.5, +(.25-.5*L6), +.25, +.25],
# [-.5, +.5, +(.25+.5*L6), -.25, +.25],
# [ 0, .5*1.41421356237, -.25*1.41421356237, 0, +.25*1.41421356237]]
#D=np.matrix(D)
#print(D)
#print(D**-1)
return (D0,L1,L2,L3,L4,L5)
#close
f=forward(0,0,0,0,0,0)
print('')
i=inverse(*f)
print('\n')
f=forward(0,10000,20000,30000,40000,50000)
print('')
i=inverse(*f)
#SOMETHING IS WRONG IN THE COORD TRF !!!
#inverse(0,0,0,0,0,0)

7
add_EXPMX3.cmd
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@@ -40,8 +40,11 @@ powerPmacSetCustomMotion $(PORT) 13 1
# Load databse # Load databse
dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)3.subs", "PORT_M=$(PORT),P_M=$(P)") dbLoadTemplate("$(ESB_MX_TEMPLATES)/$(P)3.subs", "PORT_M=$(PORT),P_M=$(P)")
var streamError 1
#var streamDebug 1
epicsEnvSet STREAM_PROTOCOL_PATH, $(STREAM_PROTOCOL_PATH):$(ESB_MX_DIR) epicsEnvSet STREAM_PROTOCOL_PATH, $(STREAM_PROTOCOL_PATH):$(ESB_MX_DIR)
#asynSetTraceMask("$(PORT)", -1, 0x6)
#asynSetTraceIOMask("$(PORT)", -1, 0x2)
var streamError 1
#var streamDebug 1

20
cfg/MX3_coordTrf.py
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@@ -73,11 +73,11 @@ open forward
//X=D^-1*S //X=D^-1*S
X=+.5*S1 -.5*S2 +(r+.5)*S3 +(r-.5)*S4 +(.5-r)*$sqrt2*S5 X=+.5*S1 -.5*S2 +(r+.25)*S3 +(r-.75)*S4 +(.25-r)*$sqrt2*S5
Y=+.5*S1 +.5*S2 +.25*S3 +.25*S4 +.25*$sqrt2*S5 Y=+.5*S1 +.5*S2 +.25*S3 +.25*S4 +.25*$sqrt2*S5
U= -.5*S3 -.5*S4 +.5*$sqrt2*S5 U= +1.*S3 +1.*S4 -1.*$sqrt2*S5
V=-.5*S1 +1.*S2 +1.5*S3 -.5*S4 -.5*$sqrt2*S5 V=-1.*S1 +1.*S2 +1.5*S3 -.5*S4 -.5*$sqrt2*S5
W=-.5*S1 -1.*S2 +.5*S3 +.5*S4 +.5*$sqrt2*S5 W=-1.*S1 -1.*S2 +.5*S3 +.5*S4 +.5*$sqrt2*S5
send 1"fwd_res %f %f %f %f %f\\n",X,Y,U,V,W send 1"fwd_res %f %f %f %f %f\\n",X,Y,U,V,W
@@ -97,11 +97,11 @@ open inverse
r=$height/$width r=$height/$width
S1=+.5*X +.5*Y +(0) *U -.5*V +.5*W S1=+.5*X +.5*Y +(.25-.5*r)*U -.25*V -.25*W
S2=-.5*X +.5*Y +(0) *U +.5*V +.5*W S2=-.5*X +.5*Y +(.5*r-.25)*U +.25*V -.25*W
S3=+.5*X +.5*Y -(.5) *U +.5*V -.5*W S3=+.5*X +.5*Y +(.25-.5*r)*U +.25*V +.25*W
S4=-.5*X +.5*Y -(.5) *U -.5*V -.5*W S4=-.5*X +.5*Y +(.25+.5*r)*U -.25*V +.25*W
S5= .5*$sqrt2*Y +.5*$sqrt2*U -.5*$sqrt2*W S5= .5*$sqrt2*Y -.25*$sqrt2*U +.25*$sqrt2*W
scl=$sqrt2/$exc scl=$sqrt2/$exc
AA1=asin(S1*scl)/$camSf AA1=asin(S1*scl)/$camSf

18
cfg/SAR-EXPMX3.cfg
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@@ -1,6 +1,6 @@
!MX3_setup() X3_setup()
//!MX3_setup_sim() // comment out !MX3_setup() when this is active !MX3_setup_sim() // comment out !MX3_setup() when this is active
//!MX3_home() //!MX3_home()
//using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000 //using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
//excentricity= 5mm //excentricity= 5mm
@@ -17,16 +17,16 @@ Coord[1].Tm=-10000 //1000um/FeedTime -> 1mm/sec
Coord[1].FeedTime=1000 //default value 1000um Coord[1].FeedTime=1000 //default value 1000um
Motor[1].InPosBand=10
Motor[2].InPosBand=10 //motor current off (as cpxcall 16)
Motor[3].InPosBand=10 Motor[1].IdCmd=0;Motor[1].InPosBand=10
Motor[4].InPosBand=10 Motor[2].IdCmd=0;Motor[2].InPosBand=10
Motor[5].InPosBand=10 Motor[3].IdCmd=0;Motor[3].InPosBand=10
Motor[4].IdCmd=0;Motor[4].InPosBand=10
Motor[5].IdCmd=0;Motor[5].InPosBand=10
#1..5hmz #1..5hmz
#1..5j/ #1..5j/
&1 &1
cpx call 16 //lock brakes, motor current off

26
cfg/stream.cfg Normal file
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@@ -0,0 +1,26 @@
# Author : zamofing_t
#Terminator = CR;
#ExtraInput = Ignore;
WaitDelay = 40;
WriteTimeout = 500;
ReplyTimeout = 4000;
#ReadTimeout = 500;
# ---------------- debug DEBUG debug DEBUG----------- #
debug {
out "%s";wait $WaitDelay; in "%#s"
}
#same as debug but without readback
debug0 {
out "%s";
}
# end
moveXYUVW {
out "cpx abs linear;call 15; X(%(\$1X.VAL)f)Y(%(\$1Y.VAL)f)U(%(\$1U.VAL)f)V(%(\$1V.VAL)f)W(%(\$1W.VAL)f);call 16";
wait $WaitDelay;
in "%#s"
}

39
qt/ESB_MX_5cam.ui
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@@ -3571,6 +3571,45 @@ P=$(P),M=MOT_GIR_W</string>
</property> </property>
</widget> </widget>
</widget> </widget>
<widget class="caMessageButton" name="caMessageButton_13">
<property name="geometry">
<rect>
<x>610</x>
<y>350</y>
<width>120</width>
<height>31</height>
</rect>
</property>
<property name="fontScaleMode">
<enum>EPushButton::WidthAndHeight</enum>
</property>
<property name="channel" stdset="0">
<string notr="true">$(P):MOVE_XYUVW</string>
</property>
<property name="label">
<string notr="true">MOVE XYUVW</string>
</property>
<property name="foreground">
<color>
<red>88</red>
<green>52</green>
<blue>15</blue>
</color>
</property>
<property name="background">
<color>
<red>187</red>
<green>187</green>
<blue>187</blue>
</color>
</property>
<property name="pressMessage">
<string>1</string>
</property>
<property name="colorMode">
<enum>caMessageButton::Alarm</enum>
</property>
</widget>
</widget> </widget>
<customwidgets> <customwidgets>
<customwidget> <customwidget>

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stream.template Normal file
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#! Generated by VisualDCT v2.6
#! DBDSTART
#! DBD("/home/zamofing_t/Documents/prj/SwissFEL/test_ioc/MasterDBD/dbd/test.dbd")
#! DBDEND
#record(motor, "$(P):$(Q)X") {}
#record(motor, "$(P):$(Q)Y") {}
#record(motor, "$(P):$(Q)U") {}
#record(motor, "$(P):$(Q)V") {}
#record(motor, "$(P):$(Q)W") {}
record(calc, $(P):5CAM_X) {
field(CALC, "A/B")
field(INPA, "$(P):$(Q)X.VAL")
field(INPB, "$(P):$(Q)X.MRES")
}
record(calc, $(P):5CAM_Y) {
field(CALC, "A/B")
field(INPA, "$(P):$(Q)Y.VAL")
field(INPB, "$(P):$(Q)Y.MRES")
}
record(calc, $(P):5CAM_U) {
field(CALC, "A/B")
field(INPA, "$(P):$(Q)U.VAL")
field(INPB, "$(P):$(Q)U.MRES")
}
record(calc, $(P):5CAM_V) {
field(CALC, "A/B")
field(INPA, "$(P):$(Q)V.VAL")
field(INPB, "$(P):$(Q)V.MRES")
}
record(calc, $(P):5CAM_W) {
field(CALC, "A/B")
field(INPA, "$(P):$(Q)W.VAL")
field(INPB, "$(P):$(Q)W.MRES")
}
# record(asyn, "$(P):asyn") {
# field(DESC, "asyn record")
# field(PORT, "$(PORT)")
# }
#record (stringout, "$(P):debug") is limited to 40 characters therefore use waveform record
record(waveform, "$(P):debug") {
field(DESC, "debug")
field(FTVL, "CHAR")
field(NELM, "256")
field(DTYP, "stream")
field(INP, "@stream.cfg debug $(PORT)")
}
# # debug0 does not expect a response
# record(waveform, "$(P):debug0") {
# field(FTVL, "CHAR")
# field(NELM, "256")
# field(DESC, "debug")
# field(DTYP, "stream")
# field(INP, "@stream.cfg debug0 $(PORT)")
# }
record(bo, "$(P):MOVE_XYUVW") {
field(DESC, "move complex")
field(DTYP, "stream")
field(OUT, "@stream.cfg moveXYUVW($(P):5CAM_) $(PORT)")
}
#! Further lines contain data used by VisualDCT
#! View(0,0,1.0)
#! Record("$(P):MOT_GIR1",20,23,0,0,"$(P):MOT_GIR1")
#! Field("$(P):MOT_GIR1.VAL",16777215,1,"$(P):MOT_GIR1.VAL")
#! Field("$(P):MOT_GIR1.MRES",16777215,1,"$(P):MOT_GIR1.MRES")
#! Record("$(P):MOT_GIR2",260,23,0,0,"$(P):MOT_GIR2")
#! Record("$(P):MOT_GIR3",500,23,0,0,"$(P):MOT_GIR3")
#! Record("$(P):MOT_GIR4",740,23,0,0,"$(P):MOT_GIR4")
#! Record("$(P):MOT_GIR5",980,23,0,0,"$(P):MOT_GIR5")
#! Record("$(P):debug",1220,14,0,0,"$(P):debug")
#! Record("$(P):MOVE_XYUVW",1460,22,0,0,"$(P):MOVE_XYUVW")
#! Record(M1,300,202,0,1,"M1")
#! Field("M1.INPA",16777215,0,"M1.INPA")
#! Link("M1.INPA","$(P):MOT_GIR1.VAL")
#! Field("M1.INPB",16777215,0,"M1.INPB")
#! Link("M1.INPB","$(P):MOT_GIR1.MRES")