part2

python/MXMotion.py

@@ -23,7 +23,7 @@ Gather.Enable : 1: after .setup_gather() called
 Gather.Samples : number af gathered data samples
 '''
 
-import os, sys
+import os,sys,time
 sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
 #import pbtools.misc.pp_comm as pp_comm   -> pp_comm.PPComm
 from  pbtools.misc.pp_comm import PPComm
@@ -31,86 +31,114 @@ from  pbtools.misc.gather import Gather
 
 
 class MotionBase:
-  def __init__(self, comm, gather, verbose):
+  def __init__(self, comm, gather, verbose,**kwargs):
     self.comm=comm
     self.gather=gather
     self.verbose=verbose
+    #ServoPeriod=0.2 #ms, Sys.ServoPeriod is dependent of !common() macro
+    ServoPeriod=comm.gpascii.servo_period*1000
 
-  def setup_sync(self, crdId=1, prgId=2, plcId=2, encId=8, mode=0, **kwargs):
+    self.meta={'srv_per':ServoPeriod,'pt2pt_time':40,'sync_flag':0,'sync_mode':2}
+    self.meta.update(kwargs)
+
+  def setup_sync(self, crdId=1, prgId=2,verbose=False):
     '''setup the timing synchronization for the motion program
-       mode=0 : no sync at all
+       kwargs:
-       mode=1 : synchronize start
+        sync_mode : default=2
-       mode=2 : synchronize start and adapt motion speed
+                0 : no sync at all
-                this function generates the code blocks:
+                1 : synchronize start
-                self.sync_wait and self.sync_run
+                2 : synchronize start and adapt motion speed
-                sync_wait can be put in the program to force a timing sync
+                    this function generates the code blocks:
-                sync_run are the commands to run the whole program
+                    self.sync_wait and self.sync_run
-       flag=0 : real start and frame trigger
+                    sync_wait can be put in the program to force a timing sync
-       flag=1 : simulated start and real frame trigger
+                    sync_run are the commands to run the whole program
-       flag=2 : real start and simulated frame trigger
+
-       flag=3 : simulated start and frame trigger
+        sync_flag : default=0
+          bit 0=1 : simulated start trigger
+          bit 1=2 : simulated frame trigger
+                0 : real start and frame trigger
+                1 : simulated start and real frame trigger
+                2 : real start and simulated frame trigger
+                3 : simulated start and frame trigger
        pt2pt_time : time point to point (needed sor sync code)
        '''
-    if mode==0:
+    sync_mode=self.meta['sync_mode']
+    sync_flag=self.meta['sync_flag']
+    pt2pt_time=self.meta['pt2pt_time']
+
+    print({0:'no sync at all',1:'sync at start only',2:'sync on each shot'}[sync_mode])
+    if sync_mode!=0:
+      print({0: 'real start trigger', 1: 'simulated start trigger'}[sync_flag&1])
+    print({0: 'real frame trigger', 2: 'simulated frame trigger'}[sync_flag&2])
+    if sync_mode==0:
       try:
         del self.sync_prg
       except AttributeError:
         pass
       self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
 
-    elif mode in(1,2):
+    elif sync_mode in(1,2):
       #frequence jitter 50Hz Swissgrid:
       #https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
-      flag=kwargs.get('flag',0);
+      flag0='Coord[1].Q[10]' if sync_flag&1 else 'Gate3[1].Chan[0].UserFlag'
-      pt2pt_time=kwargs.get('pt2pt_time',40);
+      flag1='Coord[1].Q[11]' if sync_flag&2 else 'Gate3[1].Chan[1].UserFlag'
-      flag0='Coord[1].Q[10]' if flag&1 else 'Gate3[1].Chan[0].UserFlag'
+      if sync_mode==1:
-      flag1='Coord[1].Q[11]' if flag&2 else 'Gate3[1].Chan[1].UserFlag'
-      if mode==1:
         prg = '''
   Coord[1].Q[1]=-2
-  Coord[1].TimeBaseSlew=1 //1E-4 is default 
+  Coord[1].TimeBaseSlew=1 //1E-4 is default
   Coord[1].DesTimeBase=0
   while({flag0}==0){{}}
   Coord[1].Q[1]=-1
   Gather.Enable=2
   while({flag1}==0){{}}
   Coord[1].DesTimeBase=Sys.ServoPeriod
-  '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
+  '''.format(crdId=crdId, flag0=flag0, flag1=flag1)
       else:
         prg = '''
   //Gather.Enable=2 is done in the sync program
   Coord[1].TimeBaseSlew=1 //1E-4 is default 
   Coord[1].DesTimeBase=0
   Coord[1].Q[1]=-1
-        '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
+        '''.format(crdId=crdId, flag0=flag0, flag1=flag1)
 
       self.sync_prg = prg
-      self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
+      self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
       #download and start triggerSync code
       comm=self.comm
 
-      trigMode=0;
+      arg=0 #argument to pass to triggerSync program
-      if mode==2:trigMode+=1  #synchronize
+      if sync_mode==2:arg+=1  #synchronize
-      trigMode+=flag*2        #simulated or real triggers
+      arg+=sync_flag*2        #simulated or real triggers
-      trigMode+=8 # verbose
+      if verbose: arg+=8
-      if mode==2 or trigMode&4:
+      if sync_mode==2 or arg&4:
         sftp = comm.sftp
         dst = '/tmp/triggerSync'
         src = os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
         sftp.put(src, dst)
         sftp.chmod(dst, 0o755)
         cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
-        cmd+=' %g %d'%(pt2pt_time,trigMode)
+        cmd+=' %g %d'%(pt2pt_time,arg)
         self.cmdSync = cmd
         print ('starting '+cmd)
         self.syncShell=comm.shell_channel(cmd)
-        #self.syncChan=sc=comm._client.exec_command(cmd)
+        #syncChan=sc=comm._client.exec_command(cmd)  #this is less simple to communicate with
-        #ch=sc[1].channel
+
-        #ch.settimeout(1)
+  def homing(self):
-        #sc[1].channel.setblocking(False)
+    if self.comm is None: return
-        #sc[1].read(100)
+    comm = self.comm
-        if flag&1:
+    gpascii = comm.gpascii
-          print('set Coord[1].Q[10]=1 to start motion')
+    #Motor[1].HomeComplete
+    if gpascii.get_variable('Motor[1].HomeComplete', int)==0:
+      gpascii.send_block('enable plc 1')
+      while(True):
+        sys.stdout.write('.');sys.stdout.flush()
+        time.sleep(1)
+        if gpascii.get_variable('Motor[1].HomeComplete', int)==1:
+          break
+    print('homing done')
+
+
+
 
   def run(self):
     'runs the code sync_run which has been generated with setup_sync()'
@@ -122,4 +150,18 @@ class MotionBase:
       raise 'Need to call setup sync before'
     gpascii.send_block(cmd)
 
+  def trigger(self,wait=.5):
+    if self.meta['sync_mode']==0:
+      return # no trigger at all
+
+    time.sleep(wait)
+    if self.meta['sync_flag']&1:
+      comm = self.comm
+      gpascii = comm.gpascii
+      gpascii.send_block('Coord[1].Q[10]=1')
+    else:
+      import CaChannel
+      pvTrigger = CaChannel.CaChannel('SAR-CVME-TIFALL5-EVG0:SoftEvt-EvtCode-SP.VAL')
+      pvTrigger.searchw()
+      pvTrigger.putw(254)
 

python/shapepath.py

@@ -15,6 +15,7 @@ verbose bits:
   4  upload progress
   8  plot gather path
   16 plot pvt trajectory (before motion)
+  32 print sync details
 
 Gather motor order
 
@@ -40,7 +41,7 @@ Enc 7: Interferometer X
 
 '''
 from __future__ import print_function
-import os, sys, time
+import os, sys
 import numpy as np
 import matplotlib as mpl
 import matplotlib.pyplot as plt
@@ -62,9 +63,9 @@ def gen_pvt(p,v, p2pt, ts):
      !!! it is assumed, that the time intervals are constant !!!
      '''
   n=int(p2pt/ts)
-  pvt=np.ndarray((p.shape[0]-1)*n)*0
+  pvt=np.ndarray((p.shape[0]-1)*n)
 
-  tt=np.arange(0,p2pt,ts)
+  tt=np.arange(0,p2pt,ts)[:n]
   for i in range(p.shape[0]-1):
     d=p[i]
     c=v[i]
@@ -75,21 +76,20 @@ def gen_pvt(p,v, p2pt, ts):
   return pvt
 
 class DebugPlot:
-  def __init__(self,spObj=None,fn=None):
+  def __init__(self,obj=None):
-    if spObj is not None:
+    if obj is None:
-      self.set_data(spObj)
-    elif fn is not None:
-      self.load_npz(fn)
-    else:
       self.load_npz()
+    elif type(obj)==str:
+      self.load_npz(obj)
+    else:
+      self.set_data(obj)
 
-  @staticmethod
   def plot_gen_pvt(self,pv):
     # pv is an array of posx posy velx vely
     #pv=pv[5:10,:]
     #pv=pv[5:-4,:]
     p2pt=self.meta['pt2pt_time']  # ms step between samples
-    ts=self.meta['timebase']  # sampling time in ms
+    ts=self.meta['srv_per']  # sampling time in ms
     n=int(p2pt/ts)  # servo cycle between samples
     k=pv.shape[0]  # number of unique samples
     t=np.arange(0, p2pt*k, p2pt)  # time array of trajectory
@@ -183,24 +183,27 @@ class DebugPlot:
       l2=l[:,0]**2+l[:,1]**2
       try:
         ofs=l2.argmin()
-      except ValueError:
+      except ValueError as e:
-        break#print(l2[ofs])
+        raise e #should never happen
+        break
       idx+=ofs
       idxInPos.append(idx)
 
     idxInPos = np.array(idxInPos)
     #select only triggers on a target point
-    i=np.abs(idxTrigger - idxInPos[1]).argmin()
+    i=max(0,np.abs(idxTrigger-idxInPos[1]).argmin()-1)
-    j=np.abs(idxTrigger - idxInPos[-2]).argmin()+1
+    j=i+idxInPos.shape[0]
-    self.idxTrigger=idxTrigger[i:j]
+    idxTrigger=idxTrigger[i:j]
-    self.idxInPos=idxInPos[1:-1]
+    self.idxInPos=idxInPos
+    self.idxTrigger=idxTrigger
 
   def plot_trigger_jitter(self):
     self.analyze_trigger()
-    ts=self.meta['timebase']
+    ts=self.meta['srv_per']*self.meta['acq_per']
     idxTrigger=self.idxTrigger
     idxInPos=self.idxInPos
-    jitter = idxTrigger-idxInPos
+    n=min(idxTrigger.shape[0],idxInPos.shape[0])-1
+    jitter = idxTrigger[1:n]-idxInPos[1:n]
     pts=self.pts  # X,Y array
     rec=self.rec  # yA,xA,yD,xD,trig
 
@@ -213,14 +216,15 @@ class DebugPlot:
 
 
     rec = self.rec  # yA,xA,yD,xD,trig
-    ts=self.meta['timebase']
+    ts=self.meta['srv_per']*self.meta['acq_per']
     fig = plt.figure('shot position error')
     ax = fig.add_subplot(1, 1, 1)
 
     #errx = rec[idxTrigger, 1] - rec[idxInPos, 3]
     #erry = rec[idxTrigger, 0] - rec[idxInPos, 2]
-    errx = rec[idxTrigger, 1] - pts[1:-1, 0]
+    n=idxTrigger.shape[0]
-    erry = rec[idxTrigger, 0] - pts[1:-1, 1]
+    errx = rec[idxTrigger, 1] - pts[:n, 0]
+    erry = rec[idxTrigger, 0] - pts[:n, 1]
     err = np.sqrt(errx ** 2 + erry ** 2)
 
     hl = []
@@ -239,7 +243,7 @@ class DebugPlot:
 
   def plot_pos_error(self):
     rec = self.rec  # yA,xA,yD,xD,trig
-    ts=self.meta['timebase']
+    ts=self.meta['srv_per']*self.meta['acq_per']
     fig = plt.figure('position error')
     ax = fig.add_subplot(1, 1, 1)
 
@@ -340,7 +344,7 @@ class DebugPlot:
     pts=self.pts    # X,Y array
     rec = self.rec     # yA,xA,yD,xD,trig
     strMot=('FY.act','FX.act','FY.des','FX.des')
-    ts=meta['timebase']*1E-3 #0.2ms
+    ts=self.meta['srv_per']*self.meta['acq_per']*1E-3 #0.2ms
     num=rec.shape[0]
     #rngMin=int(.01/ts);rngMax=int(num-1.001/ts) #0.01s from start 1.01 sec before end
     rngMin=int(.01/ts);rngMax=rngMin+int((pts.shape[0]-2)*.01/ts)
@@ -417,14 +421,15 @@ class DebugPlot:
   def set_data(self,spObj):
     self.meta=spObj.meta
     self.pts=spObj.points
-    self.rec=spObj.rec
+    try: self.rec=spObj.rec
-    try: pvt=self.pvt
+    except AttributeError: pass
+    try: self.pvt=spObj.pvt
     except AttributeError: pass
 
 
 class ShapePath(MotionBase):
-  def __init__(self,comm, gather, verbose):
+  def __init__(self,comm, gather, verbose,**kwargs):
-    MotionBase.__init__(self,comm, gather, verbose)
+    MotionBase.__init__(self,comm, gather, verbose, **kwargs)
 
   def gen_swissmx_points(self,flipx=False,flipy=False,ofs=(0,0),width=1000):
     'generathe a path that writes swissfel'
@@ -607,7 +612,7 @@ class ShapePath(MotionBase):
     self.ptsCorr=ptsCorr
     print(ptsCorr)
 
-  def setup_gather(self,acq_per=1,sim=False):
+  def setup_gather(self,acq_per=1):
     '''
     setup the channels to gather
     kwargs:
@@ -617,16 +622,14 @@ class ShapePath(MotionBase):
     comm=self.comm
     gt=self.gather
     gt.set_phasemode(False)
-    if sim:
+    if self.meta['sync_flag']&2:
       address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Coord[1].Q[11]")
     else:
       address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Gate3[1].Chan[1].UserFlag")
 
     gt.set_address(*address)
     gt.set_property(MaxSamples=1000000, Period=acq_per)
-    ServoPeriod= .2 #0.2ms      #Sys.ServoPeriod is dependent of !common() macro
+    self.meta.update({'acq_per':acq_per,'address':address})
-    #ServoPeriod=comm.gpascii.servo_period
-    self.meta = {'timebase': ServoPeriod*acq_per,'address':address}
 
   def setup_coord_trf(self):
     if self.comm is None: return
@@ -666,9 +669,9 @@ class ShapePath(MotionBase):
       if comm is not None:
         gpascii=comm.gpascii
       # this uses Coord[1].Tm and limits with MaxSpeed
-      elif mode in (1,3): #### pvt motion
+      if mode in (1,3): #### pvt motion
         pt2pt_time=self.meta['pt2pt_time']
-        ts=self.meta['timebase']
+        ts=self.meta['srv_per']
         scale=kwargs.get('scale', 1.)
         cnt=kwargs.get('cnt', 1)  # move path multiple times
         dwell=kwargs.get('dwell', 100)  # synchronization mark all n points
@@ -707,7 +710,7 @@ class ShapePath(MotionBase):
           pv[  1:-1,(2,3)] = v[:n]*scale
         verb=self.verbose
         if verb&16:
-          self.pvt=DebugPlot(self).plot_gen_pvt(pv)
+          dp=DebugPlot(self);self.pvt=dp.plot_gen_pvt(pv)
           plt.show()
 
         pv[1:-1, (2, 3)]*=CoordFeedTime #scaling for Deltatau
@@ -784,23 +787,47 @@ if __name__=='__main__':
   #                            '%(levelname)-8s %(message)s'),
   #                    datefmt='%m-%d %H:%M',
   #                    )
-  def trigger(wait=.5):
+
-    import CaChannel
+  def unique_filename(fnBase):
-    time.sleep(wait)
+    i = 0;
-    pvTrigger = CaChannel.CaChannel('SAR-CVME-TIFALL5-EVG0:SoftEvt-EvtCode-SP.VAL')
+    while (True):
-    pvTrigger.searchw()
+      fn=fnBase+('%0.3d'%i)
-    pvTrigger.putw(254)
+      i+=1
+      if not os.path.exists(fn+'.npz'):
+        print('save to '+fn+'.*')
+        break
+    return fn
 
 
   def run_test(args):
-    dp=DebugPlot();dp.plot_gather();return
+    #dp=DebugPlot();dp.plot_gather();return
     #args.host=None
     if args.host is None:
       comm=gather=None
     else:
       comm = PPComm(host=args.host)
       gather = Gather(comm)
-    sp = ShapePath(comm, gather, args.verbose)
+    #real start and frame trigger with sync
+    #sp = ShapePath(comm, gather, args.verbose)
+
+    # direct start
+    #sp = ShapePath(comm, gather, args.verbose,sync_mode=0)
+
+    #simulated start and frame trigger no sync
+    #sp = ShapePath(comm, gather, args.verbose,sync_mode=1,sync_flag=3)
+
+    #simulated start and frame trigger with sync
+    #sp = ShapePath(comm, gather, args.verbose,sync_mode=2,sync_flag=3)
+
+    #simulated start real frame trigger no sync
+    #sp = ShapePath(comm, gather, args.verbose,sync_mode=1,sync_flag=1)
+
+    #simulated start real frame trigger with sync
+    sp = ShapePath(comm, gather, args.verbose,sync_mode=2,sync_flag=1)
+
+    fn='/tmp/shapepath'
+    #fn =unique_filename('ShapePathAnalyser/records/19_01_24/spiral')
+
     # Gather.MaxLines=116508
     # ts=0.2ms
     # max_num_points=(MaxLines*ts-1000ms)/(+acq_per*pt2pt_time*ts)
@@ -814,128 +841,44 @@ if __name__=='__main__':
     #  10ms       3       6860
     #  10ms       4       9180
 
-    #sp.gen_swissmx_points(width=1000,ofs=(-500,0))
+    #xy=False
-    #sp.gen_swissfel_points(width=1000,ofs=(-500,0))
+    #sp.gen_grid_points(w=6,h=6,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);
-    #fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBMotionAnalyzer/records/mode1'
-    #fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/record/grid_delay_0002'
-    #   /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/record/chip000_sortedXXXX_9x9'
-    #fn='/sf/bernina/data/p17592/res/20181203/imprints/chip000_preloc_min10um_sortedX_refs_goaround/chip000_sortedY_9x9.npz'
-    #fn='PBMotionAnalyzer/records/rand50um_25Hz'
-    #sp.setup_coord_trf()
-
-    #sp.points=np.zeros((2,2))
-    sp.meta={'timebase':.2,'pt2pt_time':40}
-    #sp.gather_upload(fnRec=fn+'.npz')
-    #Tools.plot_gather(sp)
-    #return
-    xy=False
-    #sp.gen_rand_points(n=14, scale=1000);sp.sort_points(xy=xy)
-    #print(sp.points[:,0])
-    #sp.gen_swissmx_points(width=1000, ofs=(-500, 0));
-
-    #sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0))
-    sp.gen_spiral_points(rStart=100,rInc=130,numSeg=4,numCir=2, ofs=(0, 0))
-    #sp.gen_spiral_points(rStart=100,rInc=20,numSeg=8,numCir=32, ofs=(0, 0))
-
-    #sp.gen_closed_shifted()
-    #sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);
-    #sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0))
-    #sp.setup_motion(fnPrg=fn + '.prg', mode=1, scale=0)
-    #sp.setup_motion(fnPrg=fn + '.prg', mode=1, scale=1)
-
-    #works: direct start
-    #sp.setup_gather(acq_per=1)
-    #sp.setup_sync(mode=0)
-
-    #works: simulated start and frame trigger no sync
-    #sp.setup_gather(acq_per=1,sim=True)
-    #sp.setup_sync(mode=1,flag=3)
-
-    #works: simulated start and frame trigger with sync
-    #sp.setup_gather(acq_per=1,sim=True)
-    #sp.setup_sync(mode=2,flag=3)
-
-    #works: simulated start real frame trigger no sync
-    #sp.setup_gather(acq_per=1)
-    #sp.setup_sync(mode=1,flag=1)
-
-    #works: simulated start real frame trigger with sync
-    sp.setup_gather(acq_per=1)
-    sp.setup_sync(mode=2,flag=1)
-
-    sp.setup_coord_trf() # reset to shape path system
-    sp.setup_motion(fnPrg=fn + '.prg', mode=3, scale=1,dwell=10)
-    #sp.setup_motion(fnPrg=fn + '.prg', mode=1, scale=0,dwell=10)
-    sp.run()
-    sp.gather_upload(fnRec=fn+'.npz')
-    dp=DebugPlot(obj=sp);dp.plot_gather(mode=11)
-    exit(0)
-
-    # fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
-
-    #>>>point source and sorting<<<
-    #sp.points = np.array([[100,523],[635,632],[756,213]])
-    #sp.points = np.array([[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]])
-    #sp.gen_rand_points(n=107, scale=1000);sp.sort_points(xy=xy)
-    #sp.gen_rand_points(n=107, scale=1000);sp.sort_points(xy=xy)
-    #fh=np.load('/sf/bernina/data/p17592/res/20181203/imprints/chip000_preloc_min10um_sortedX_refs_goaround/chip000_preloc_min10um_sortedX_refs_goaround_0529.npz')
-    #sp.points=fh['pts']
-    sp.gen_grid_points(w=6,h=6,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);
-    sp.gen_closed_shifted()
-    sp.points=sp.points-+sp.points[0,:]+(-967,1446)
-    #1412.33 -2862.37
-    #1446.62 -967.7128125
-
-    #sp.plot_points(sp.points);plt.show()
-
     #sp.gen_grid_points(w=100,h=100,pitch=10,rnd=.2)
     #sp.gen_swissfel_points(width=1000,ofs=(-500,0));sp.sort_points(xy=xy)
     #sp.gen_grid_points(w=10,h=10,pitch=50,rnd=.2)
     #sp.gen_grid_points(w=100,h=100,pitch=50,rnd=.2)
+    #sp.gen_closed_shifted()
+    #sp.gen_swissmx_points(width=1000,ofs=(-500,0))
+    #sp.gen_swissfel_points(width=1000,ofs=(-500,0))
+    #sp.gen_rand_points(n=14, scale=1000);sp.sort_points(xy=xy)
+    #sp.gen_swissmx_points(width=1000, ofs=(-500, 0));
+    #sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0))
+    #sp.gen_spiral_points(rStart=100,rInc=130,numSeg=4,numCir=2, ofs=(0, 0))
+    #sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);
+    #sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0))
+    sp.gen_spiral_points(rStart=100,rInc=20,numSeg=8,numCir=32, ofs=(0, 0))
+    #sp.gen_closed_shifted()
 
+    sp.setup_gather(acq_per=1)
+    sp.setup_sync(verbose=args.verbose&32)
 
-    #sp.setup_gather(acq_per=1) #Gather.MaxLines=116508   580pts
-    sp.setup_gather(acq_per=2)
-    #setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
-    #sp.setup_sync() #no sync at all
-    #sp.setup_sync(mode=1) #sync with timing system (PROG)
-    sp.setup_sync(mode=2) #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=1)
+    sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1,dwell=10)
-    #sp.gen_grid_points(w=2,h=2,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,acq_per=1)
+    #sp.setup_motion(fnPrg=fn + '.prg', mode=1, scale=1,dwell=10)
-    #sp.gen_swissmx_points(width=1000,ofs=(-500,0));sp.setup_motion(fnPrg=fn+'.prg',mode=1,acq_per=1)
+    #sp.setup_motion(fnPrg=fn + '.prg', mode=1, scale=0,dwell=10)
+    sp.homing()
+    sp.run()
+    sp.trigger(0.5) #send a start trigger (if needed) ater given time
+    sp.gather_upload(fnRec=fn+'.npz')
+    dp=DebugPlot(sp);dp.plot_gather(mode=11)
 
 
-    #sp.gen_grid_points(w=30,h=30,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
+    #sp.plot_points(sp.points);plt.show()
-    #sp.gen_grid_points(w=200,h=200,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
-
-    #sp.gen_grid_points(w=2,h=20,pitch=50,rnd=0);sp.setup_motion(fnPrg=fn+'.prg',mode=1,acq_per=1)
-    #sp.gen_rand_points(n=500, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,acq_per=1)
-    #sp.gen_grid_points(w=30,h=30,pitch=50,rnd=0.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,)
-    #sp.gen_rand_points(n=400, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
 
 
-    #sp.gen_swissmx_points(width=2000,flipx=True,flipy=True,ofs=(1014,-281));sp.setup_motion(fnPrg=fn+'.prg',mode=1)
-    #sp.gen_grid_points(w=20,h=20,pitch=20,rnd=0,ofs=(-464,1754));sp.sort_points(True);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
-    #sp.gen_grid_points(w=20,h=20,pitch=20,rnd=0,ofs=(-160,3700));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
-    #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1590,-1070));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
-    #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1580,-1070));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
-    #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1580,-1060));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
-    #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1590,-1060));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1)
-
-    #>>>setup gather and sync<<<
-    #sp.setup_gather()
-    #sp.setup_sync()
-
-    #>>>setup motion program<<<
-    #sp.setup_motion(fnPrg=fn+'.prg',mode=1)
 
     #>>>run gather and plot trajectory<<<
     #return
-    sp.run()
-    #trigger(0.5)
-    sp.gather_upload(fnRec=fn+'.npz')
-    Tools.plot_gather(sp,mode=11)
 
 
   from optparse import OptionParser, IndentedHelpFormatter