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@@ -62,7 +62,8 @@ verbose bits:
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#points:
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#dx,dz,w,fy -> pb coord. be aware of inverted dx,dz signs
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from __future__ import print_function
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#from __future__ import absolute_import,division,generators,nested_scopes,print_function,unicode_literals,with_statement
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import os, sys, json,re
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import numpy as np
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import matplotlib as mpl
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@@ -644,8 +645,9 @@ class HelicalScanTests():
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class HelicalScan(MotionBase):
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def __init__(self,comm, gather, verbose):
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MotionBase.__init__(self,comm, gather, verbose)
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def __init__(self, comm, gather, verbose, **kwargs):
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if comm==None: return
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MotionBase.__init__(self, comm, gather, verbose, **kwargs)
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def load_rec(self,fn_npz='/tmp/helicalscan.npz'):
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try:
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@@ -849,12 +851,17 @@ class HelicalScan(MotionBase):
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if comm is None:return
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gt=self.gather
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gt.set_phasemode(False)
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#gt.set_address("Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos")
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gt.set_address("Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos","Gate3[1].Chan[1].UserFlag")
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#up to now the trigger is not saved
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#if self.meta['sync_flag']&2:
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# address=("Motor[4].ActPos", "Motor[5].ActPos", "Motor[3].ActPos", "Motor[1].ActPos","Coord[1].Q[11]")
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#else:
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# address=("Motor[4].ActPos", "Motor[5].ActPos", "Motor[3].ActPos", "Motor[1].ActPos","Gate3[1].Chan[1].UserFlag")
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address=("Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos")
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gt.set_address(*address)
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gt.set_property(MaxSamples=1000000, Period=acq_per)
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ServoPeriod= .2 #0.2ms #Sys.ServoPeriod is dependent of !common() macro
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#ServoPeriod=comm.gpascii.servo_period
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self.meta = {'timebase': ServoPeriod*acq_per}
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self.meta.update({'acq_per':acq_per,'address':address})
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def setup_coord_trf(self,fnCrdTrf='/tmp/coordTrf.cfg'):
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param=self.param
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@@ -1107,6 +1114,7 @@ close
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yRng = kwargs.get('yRng', self.param[:,1])
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pt2pt_time = kwargs.get('pt2pt_time', 100)
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smt = kwargs.get('smt', 1) # SegMoveTime, default = 1ms -> velocity calc not yet 100% correct (smt=0 not 100% working)
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dwell = kwargs.get('dwell', 100) # wait time at end of motion
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numPt=cntVert*cntHor
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pt=np.zeros((numPt,4))
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@@ -1147,8 +1155,6 @@ close
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prg.append(' Coord[1].SegMoveTime=%d'%smt) #to calculate every 1 ms the inverse kinematics
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prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position
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for idx in range(1,pv.shape[0]):
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if sync_frq is not None and idx%sync_frq==0:
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prg.append('Coord[1].Q[0]=%d'%(idx))
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prg.append(' X%g:%g Z%g:%g B%g:%g Y%g:%g' % tuple(pv[idx, (0,4,1,5,2,6,3,7)]))
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#prg.append('Y%g:%g' % tuple(pv[idx, (5, 7)]))
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#prg.append('B%g:%g' %(idx*1000,0))
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@@ -1159,14 +1165,11 @@ close
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prg.append(' {')
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prg.append(' linear abs')
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prg.append(' X%g Z%g B%g Y%g' % tuple(pv[0, (0, 1, 2, 3)]))
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prg.append(' dwell 100')
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prg.append(' dwell %d' % dwell)
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prg.append(' goto 100')
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prg.append(' }')
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else:
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prg.append(' dwell 1000')
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if sync_frq is not None:
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prg.append(' Coord[1].Q[0]=-1')
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prg.append(' Coord[1].Q[1]=0')
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prg.append('dwell %d' % dwell)
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prg.append(' Gather.Enable=0')
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prg.append('close')
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#prg.append('&1\nb%dr\n'%prgId)
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@@ -1188,6 +1191,10 @@ close
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gt=self.gather
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gt.wait_stopped(verbose=True)
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self.rec=rec=gt.upload()
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channels=self.meta['address']
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channels = ["Motor[4].HomePos", "Motor[5].HomePos", "Motor[3].HomePos", "Motor[1].HomePos"]
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ofs = np.ndarray(len(channels))
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for i, v in enumerate(channels):
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@@ -1208,7 +1215,22 @@ if __name__=='__main__':
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comm = PPComm(host=args.host)
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gather = Gather(comm)
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gpascii = comm.gpascii
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hs=HelicalScan(comm, gather, args.verbose)
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# direct start
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#hs=HelicalScan(comm, gather, args.verbose,sync_mode=0)
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#simulated start and frame trigger no sync
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#hs=HelicalScan(comm, gather, args.verbose,sync_mode=1,sync_flag=3)
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#simulated start and frame trigger with sync
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#hs=HelicalScan(comm, gather, args.verbose,sync_mode=2,sync_flag=3)
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#simulated start real frame trigger no sync
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#hs=HelicalScan(comm, gather, args.verbose,sync_mode=1,sync_flag=1)
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#simulated start real frame trigger with sync
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hs=HelicalScan(comm, gather, args.verbose,sync_mode=2,sync_flag=1)
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if mode==0:
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# gpasci: #1,4,5p // y,-x ,-z
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# 0deg 256.7 -762.5 -396.4
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@@ -1222,6 +1244,13 @@ if __name__=='__main__':
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y=(1405.7, 1019.2),
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z=((-1309.6, -1010.9, -2410.3), (-1219.4, -918.8, -2510.4)))
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hs.calcParam(x=((-70.25682272433501, 287.48437780001825, -477.99870973215764),
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(-41.466601738723284, 274.71565975031103, -504.9508517714285)),
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y=(1207.6326052816642, 1704.2138281362475), z=(
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(-1196.2847548574225, -1686.284754857423, -1686.284754857423),
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(-1196.2847548574225, -1686.284754857423, -1686.284754857423)))
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### use simulation motors ###
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# os.chdir(os.path.join(os.path.dirname(__file__),'../cfg'))
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# 'sim_8_motors.cfg'
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@@ -1232,22 +1261,21 @@ if __name__=='__main__':
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# fh=open("/sf/bernina/config/swissmx/exchange/helical.cmd")
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# fh=open("/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/helical.cmd")
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#fh = open("/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/lyso001_0063_helical_debug.cmd")
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fh = open("/sf/bernina/data/p17592/res/20181130/helicaltest/lyso005/lyso005_0072_helical_debug.cmd")
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#fh = open("/sf/bernina/data/p17592/res/20181130/helicaltest/lyso005/lyso005_0072_helical_debug.cmd")
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# find /sf/bernina/data/p17592/res/ -name '*.cmd'
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s = fh.read();
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s = s.replace('calcParam', 'hs.calcParam')
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eval(s)
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#s = fh.read();
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#s = s.replace('calcParam', 'hs.calcParam')
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#eval(s)
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# &1p
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# cpx X0 Z0 B0 Y258
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# cpx X0 Z0 B120000 Y258
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hs.setup_coord_trf()
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hs.setup_sync(mode=0) # None: no sync at all mode=1: sync on timing UserFlag
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hs.setup_gather()
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hs.setup_gather(acq_per=1)
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hs.setup_sync(verbose=args.verbose & 32)
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hs.setup_coord_trf() # reset to shape path system
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# hs.gen_prog(mode=-1)
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# hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
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@@ -1274,6 +1302,8 @@ if __name__=='__main__':
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# hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-100,50),wRng=(000,10000),smt=0)
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hs.run()
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hs.wait_armed() # wait until motors are at first position
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hs.trigger(0.5) # send a start trigger (if needed) ater given time
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print('wait until gather finished:')
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fn = '/tmp/helicalscan'
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hs.gather_upload(fn + '.npz')
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